What does innovation mean?

In a filter, the measurement minus what the filter predicted it would be: the part of the measurement the model did not see coming. Innovations should scatter around zero; a consistent sign means a biased model.

Also written as: innovations

In a lesson

measured - est has a name: the innovation, or residual. It is the part of the measurement your model did not predict, and it is the most useful diagnostic in the whole business.

Learn it

• Taught in U6.2 Predict and correct State estimation, University

Used in

• U6.4 Q and R
• U6.6 Fusing a fix
• U8.5 Ray casting the map

All glossary terms