Fix ASD with OOSM #1075
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Fix ASD with OOSM #1075
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When using ASD with out of sequence measurements, the covariance prior to OOSM measurement would go negative. Through testing, it's highlighted that setting the correlation matrices predicted covariance to that one based on original posterior (i.e. approx value it would have been set to if measurement was received in sequence) seems to resolve the issue.
sdhiscocks
requested review from
nperree-dstl and
spike-dstl
and removed request for
a team
Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #1075 +/- ##
=======================================
Coverage 94.31% 94.31%
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Files 208 208
Lines 13603 13605 +2
Branches 2767 2767
=======================================
+ Hits 12830 12832 +2
Misses 522 522
Partials 251 251
Flags with carried forward coverage won't be shown. Click here to find out more. ☔ View full report in Codecov by Sentry. |
nperree-dstl
approved these changes
Aug 29, 2024
jswright-dstl
approved these changes
Sep 2, 2024
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When using ASD with out of sequence measurements, the covariance prior to OOSM measurement would go negative. Through testing, it's highlighted that setting the correlation matrices predicted covariance to that one based on original posterior (i.e. approx value it would have been set to if measurement was received in sequence) seems to resolve the issue.