Pb. fixed. Was due to use of atan(x) instead of atan(x,y) (atan2).
Results are quite satisfactory ! (~2m)
Works as exptected, behaves very badly with non-precise initial state.
There is a singularity at t~30s in the measured distance to pinger: why? This disturbs the filter a lot
Made the circle mission last longer, at lower speed. Added the corresponding EKF without the Kantor annular distribution approximation.
Added a "line" mission. Prepared a 4 transponders mission.
Added EKF with Kantor linearization of the anular distribution.
Added scenario with 4 landmarks.
Still having problems, I think something is wron with rotation speed update
Starting an animated version of the 4 Transponder EKF SLAM to debug
Refreshed my mind on "how to make animations in Scilab" (thanks http://www.sky-engin.jp/en/ScilabAnimation/)
Working on the animated EKFSLAM. Should correct confidence ellipses in the other scripts, because I am using the covariance matrix of the first landmark for all of them.
Scilab: Comet is an interesting way to animate. But no way to slow down the anim.
Finished animated EKF SLAM. Still dont see where the pb is