Fix process noise handling in UKF #279

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ashtuchkin wants to merge 1 commit into rlabbe:master from ashtuchkin:fix-process-noise

ashtuchkin commented Sep 22, 2022

Two minor changes to UnscentedKalmanFilter:

Allow passing Q to predict step, for consistency with R in update step. It's also pretty much required if you have uneven dt.
Fix a bug in the RTS smoother where passed-in Qs were not used at all.


          Fix process noise handling in UKF

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