Innovation
Also: measurement innovation
The difference between a new measurement and what the current estimate predicted that sensor would see.
Its covariance supports consistency checks and gating; persistent structure signals bias, timing, frame, or model problems.
- Formula
ν = z − h(x̂⁻)
Example A camera position far from predicted odometry creates a large innovation.
Common misconception A large innovation does not by itself identify which sensor or model is wrong.