UKF Bearing-Only Target Tracking with Angle-Wrap Traps¶
- Task ID:
robotics.ukf_bearing_only_tracking - Domain:
robotics - Subdomain:
state_estimation - Status:
test - Tags:
ukf,bearing_only,target_tracking,angle_wrapping,sigma_points,state_estimation
Public Summary¶
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Example B1 Prompt Excerpt¶
# B1
## Goal
A fixed planar observer at `(observer_x, observer_y) = ({{ observer_x }}, {{ observer_y }})` m
records `T = {{ T_steps }}` noisy **bearing-only** measurements of a moving target.
Implement an **unscented Kalman filter (UKF)** that estimates the target state
`[px, py, vx, vy]` (metres and m/s in the world frame) at every step.
Write `analysis.py` in the workspace root. On execution (no CLI arguments) it
must read `data/`, run the full filter, and write `state_history.npy` and
Notes¶
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