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>>> Q = np.diag([0.1, 0.1, np.deg2rad(1)]) ** 2;
should be:
>>> R = np.diag([0.1, 0.1, np.deg2rad(1)]) ** 2;
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>>> Q = np.diag([0.1, 0.1, np.deg2rad(1)]) ** 2;
should be:
>>> R = np.diag([0.1, 0.1, np.deg2rad(1)]) ** 2;