Kalman Filter doesn't use Filtered State for Predicition (was ACTS-312)
Original author Valentin Volkl @vavolkl
As far as I can tell, the state used for prediction, pUpdated, is once set to the initial state and then never updated again:
In the loop, it must be updated with the filtered state, otherwise only the initial state is extrapolated throughout the fitting.
Edited by Moritz Kiehn