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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:

https://gitlab.cern.ch/acts/a-common-tracking-sw/blob/master/Core/include/ACTS/Fitter/KalmanFitter.hpp#L149

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
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