From 0a4594884adcdef15abe861fc64d74b7511c6055 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Wed, 5 Apr 2017 14:08:25 -0500
Subject: Improved process noise modeling

---
 src/feature.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src/feature.cpp')

diff --git a/src/feature.cpp b/src/feature.cpp
index 85396e3..22bf776 100644
--- a/src/feature.cpp
+++ b/src/feature.cpp
@@ -148,7 +148,7 @@ Feature::Q ( const double dt )
 {
     Matrix<double,3,3> Q;
     Q = Matrix<double,3,3>::Identity();
-    Q *= dt*dt*dt*dt*FEATURE_NOISE;//*1e-1;
+    Q *= 0.5*dt*dt*dt*dt*FEATURE_NOISE*FEATURE_NOISE;//*1e-1;
     return Q;
 }		/* -----  end of method Feature::q  ----- */
 
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