{"action":"created","issue":{"url":"https://api.github.com/repos/msparapa/aae568_project/issues/10","repository_url":"https://api.github.com/repos/msparapa/aae568_project","labels_url":"https://api.github.com/repos/msparapa/aae568_project/issues/10/labels{/name}","comments_url":"https://api.github.com/repos/msparapa/aae568_project/issues/10/comments","events_url":"https://api.github.com/repos/msparapa/aae568_project/issues/10/events","html_url":"https://github.com/msparapa/aae568_project/issues/10","id":316412232,"number":10,"title":"Negative Eigenvalues?","user":{"login":"adcox","id":8823281,"avatar_url":"https://avatars3.githubusercontent.com/u/8823281?v=4","gravatar_id":"","url":"https://api.github.com/users/adcox","html_url":"https://github.com/adcox","followers_url":"https://api.github.com/users/adcox/followers","following_url":"https://api.github.com/users/adcox/following{/other_user}","gists_url":"https://api.github.com/users/adcox/gists{/gist_id}","starred_url":"https://api.github.com/users/adcox/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/adcox/subscriptions","organizations_url":"https://api.github.com/users/adcox/orgs","repos_url":"https://api.github.com/users/adcox/repos","events_url":"https://api.github.com/users/adcox/events{/privacy}","received_events_url":"https://api.github.com/users/adcox/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":{"login":"wzaidi","id":29795923,"avatar_url":"https://avatars0.githubusercontent.com/u/29795923?v=4","gravatar_id":"","url":"https://api.github.com/users/wzaidi","html_url":"https://github.com/wzaidi","followers_url":"https://api.github.com/users/wzaidi/followers","following_url":"https://api.github.com/users/wzaidi/following{/other_user}","gists_url":"https://api.github.com/users/wzaidi/gists{/gist_id}","starred_url":"https://api.github.com/users/wzaidi/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/wzaidi/subscriptions","organizations_url":"https://api.github.com/users/wzaidi/orgs","repos_url":"https://api.github.com/users/wzaidi/repos","events_url":"https://api.github.com/users/wzaidi/events{/privacy}","received_events_url":"https://api.github.com/users/wzaidi/received_events","type":"User","site_admin":false},"assignees":[{"login":"wzaidi","id":29795923,"avatar_url":"https://avatars0.githubusercontent.com/u/29795923?v=4","gravatar_id":"","url":"https://api.github.com/users/wzaidi","html_url":"https://github.com/wzaidi","followers_url":"https://api.github.com/users/wzaidi/followers","following_url":"https://api.github.com/users/wzaidi/following{/other_user}","gists_url":"https://api.github.com/users/wzaidi/gists{/gist_id}","starred_url":"https://api.github.com/users/wzaidi/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/wzaidi/subscriptions","organizations_url":"https://api.github.com/users/wzaidi/orgs","repos_url":"https://api.github.com/users/wzaidi/repos","events_url":"https://api.github.com/users/wzaidi/events{/privacy}","received_events_url":"https://api.github.com/users/wzaidi/received_events","type":"User","site_admin":false}],"milestone":null,"comments":2,"created_at":"2018-04-20T21:08:25Z","updated_at":"2018-04-20T21:41:22Z","closed_at":null,"author_association":"COLLABORATOR","body":"The covariance returned by the UKF on [line 261 of indirect_main.m](https://github.com/msparapa/aae568_project/blob/df0bfbedd0aed38467edd62afb4c8c85dfc6fd9b/code/indirect_main.m#L261) has negative eigenvalues... shouldn't it have positive eigenvalues?"},"comment":{"url":"https://api.github.com/repos/msparapa/aae568_project/issues/comments/383230268","html_url":"https://github.com/msparapa/aae568_project/issues/10#issuecomment-383230268","issue_url":"https://api.github.com/repos/msparapa/aae568_project/issues/10","id":383230268,"user":{"login":"adcox","id":8823281,"avatar_url":"https://avatars3.githubusercontent.com/u/8823281?v=4","gravatar_id":"","url":"https://api.github.com/users/adcox","html_url":"https://github.com/adcox","followers_url":"https://api.github.com/users/adcox/followers","following_url":"https://api.github.com/users/adcox/following{/other_user}","gists_url":"https://api.github.com/users/adcox/gists{/gist_id}","starred_url":"https://api.github.com/users/adcox/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/adcox/subscriptions","organizations_url":"https://api.github.com/users/adcox/orgs","repos_url":"https://api.github.com/users/adcox/repos","events_url":"https://api.github.com/users/adcox/events{/privacy}","received_events_url":"https://api.github.com/users/adcox/received_events","type":"User","site_admin":false},"created_at":"2018-04-20T21:41:22Z","updated_at":"2018-04-20T21:41:22Z","author_association":"COLLABORATOR","body":"That does indeed fix the negative eigenvalue problem, but then the UKF has a really difficult time finding the actual trajectory:\r\n\r\n![image](https://user-images.githubusercontent.com/8823281/39075065-ebebeb7e-44c1-11e8-8996-4b584d844424.png)\r\n\r\nI'm guessing the fact that we're using range and range-rate as the only measurements plays a role? The code is currently set up to take a measurement every 30 minutes."}}
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