More gain 'k' explanation. 'K' determines how much you weight you give sensor A ... | Hacker News

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randyrand on March 13, 2018 | parent | context | favorite | on: Quick explanation of how a Kalman filter works

More gain 'k' explanation. 'K' determines how much you weight you give sensor A and sensor B.

A gain of 1.0 means B is weighted 100% and A is 0%. Gain of 0.5 means each gets 50/50 weight.

Look at the maths and notice how when the gain is 1.0, the mean just becomes the mean of B.

caf on March 14, 2018 | [–]

Notice also that if you replace k with (1-k) then you get the same results, but with a and b swapped.

xchip on March 14, 2018 | [–]

yeah, calling it 'gain' is confusing since that keyword is mainly used for amplifiers.

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