how to calculate predicted estimate covariance matrix in gpsacckalmanfilter ??

[sakshi1357]

what is actually use the value of predicted estimate covariance(p matrix ) in GPSAcckalmankalmanfilter??

[Lezh1k]

@sakshi1357 Sorry, I didn't get the question.
What is P matrix?

We have 2 covariance matrices here: Q (a process noise) and R (an observation noise).

I update Q on each predict step, when I get new data from accelerometer/gyroscope/magnetometer.
I update R on each update step, because each GPS coordinate comes with it's accuracy.

Provide please more information. Maybe line in code that confused you.
Thank you.