Révision 123
Ajouté par Massamba FALL il y a environ 3 ans
| branch/fall_massamba/branch/faye/sp4a12/sp4a.cbp | ||
|---|---|---|
|
<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
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<CodeBlocks_project_file>
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<FileVersion major="1" minor="6" />
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<Project>
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<Option title="sp4a" />
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<Option pch_mode="2" />
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<Option compiler="gcc" />
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<Build>
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<Target title="Debug">
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<Option output="sp4a" prefix_auto="1" extension_auto="1" />
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<Option object_output=".\debug" />
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<Option type="1" />
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<Option compiler="gcc" />
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<Compiler>
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<Add option="-g" />
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</Compiler>
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</Target>
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</Build>
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<Compiler>
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<Add option="-Wall" />
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</Compiler>
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<Unit filename="gps.log" />
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<Unit filename="main.c">
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<Option compilerVar="CC" />
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</Unit>
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<Unit filename="trame.c">
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<Option compilerVar="CC" />
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</Unit>
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<Unit filename="trame.h" />
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<Extensions>
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<code_completion />
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<envvars />
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<debugger />
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<lib_finder disable_auto="1" />
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</Extensions>
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</Project>
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</CodeBlocks_project_file>
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| branch/fall_massamba/branch/faye/sp4a12/trame.h | ||
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int trame_init(void);
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char * trame_suivante(void);
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| branch/fall_massamba/branch/faye/sp4a12/main.c | ||
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#include <stdio.h>
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#include <stdlib.h>
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#include <strings.h>
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#include "trame.h"
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//Trames de tests ? modifier si n?cessaire.
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char * trames[]= {"$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C",
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"$GPGSV,3,3,10,22,39,053,50,28,15,320,*7E",
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"$GPRMC,141914.00,A,4545.6424,N,00306.6036,E,0.4,99.4,010206,,*0C",
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"$GPGLL,4545.6424,N,00306.6036,E,141914.00,A*0E",
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"$GPGGA,141914.00,4545.0000,N,00306.6036,E,1,05,3.4,499.3,M,,M,,*7D",
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"$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39",
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"$GPVTG,99.4,T,,M,0.4,N,0.7,K*57",
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"$GPZDA,141914.00,01,02,2006,00,00*69",
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0};
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int trame_cmp(char*trame,char*type){
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int i = 1;
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int res = 1;
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while ((res == 1)&&(type[i-1] != '\0')){
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if (trame[i] != type[i-1]){
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res = 0;
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}
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i++;
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}
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return res;
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}
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//Fonction ? modifier !!!!!
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void traitement(char * trame)
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{
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static int cpt=0;
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cpt++;
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printf ("> %s\n",trame);
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}
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//Ajouter vos tests unitaires dans cette fonction.
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void tests_unitaires(void){
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if (5!=5){
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printf ("Erreur Test unitaire basique.\n");
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exit(-1);
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}
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if (trame_cmp("$GPGGA suite chaine","GPGGA")!=1){
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printf ("Erreur Test unitaire trame_cmp.\n");
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exit(-1);
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}
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if (trame_cmp("$GPGGA suite chaine","GPGGA")!=1){
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printf ("Erreur Test unitaire trame_cmp.\n");
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exit(-1);
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}
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if (trame_cmp("$GPRMC suite chaine","GPGGA")!=0){
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printf ("Erreur Test unitaire trame_cmp.\n");
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exit(-1);
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}
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if (trame_cmp("$GPRMC... ", "GPRMC" )!=1){
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exit(-1);
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}
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if (trame_cmp("$APRMC...", "GPGGA")!=0){
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printf ("Erreur Test unitaire trame_cmp.\n");
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exit(-1);
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}
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}
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// Ne pas modifier cette fonction
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int main(int argc,char ** argv)
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{
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tests_unitaires();
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// Affichage des trames definies dans la table trames.
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printf ("Trames de tests tableau trames:\n");
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int i=0;
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while (trames[i])
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traitement(trames[i++]);
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if (!trame_init())
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exit(-1);
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// Affichage des trames du fichier gps.log
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char *trame;
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printf ("Trames de tests du fichier gps.log\n");
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while ((trame = trame_suivante()))
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traitement(trame);
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return 0;
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}
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| branch/fall_massamba/branch/faye/sp4a12/gps.log | ||
|---|---|---|
|
$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C
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$GPGSV,3,3,10,22,39,053,50,28,15,320,*7E
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$GPRMC,141914.00,A,4545.6424,N,00306.6036,E,0.4,99.4,010206,,*0C
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$GPGLL,4545.6424,N,00306.6036,E,141914.00,A*0E
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$GPGGA,141914.00,4545.0000,N,00306.6036,E,1,05,3.4,499.3,M,,M,,*79
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$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
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$GPVTG,99.4,T,,M,0.4,N,0.7,K*57
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$GPZDA,141914.00,01,02,2006,00,00*69
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$GPGSV,3,1,10,01,13,142,46,03,48,144,47,11,41,277,,14,27,104,42*75
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$GPGSV,3,2,10,15,03,077,,18,04,041,41,19,85,271,,20,08,214,*7F
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$GPGSV,3,3,10,22,39,053,48,28,15,320,*77
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$GPRMC,141915.00,A,4545.6423,N,00306.6039,E,0.6,110.2,010206,,*31
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$GPGLL,4545.6423,N,00306.6039,E,141915.00,A*07
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$GPGGA,141915.00,4545.0242,N,00306.6039,E,1,05,3.4,499.5,M,,M,,*75
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$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
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|
$GPVTG,110.2,T,,M,0.6,N,1.2,K*67
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$GPZDA,141915.00,01,02,2006,00,00*68
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|
$GPGSV,3,1,10,01,13,142,45,03,48,144,47,11,41,277,,14,27,104,41*75
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|
$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C
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|
$GPGSV,3,3,10,22,39,053,49,28,15,320,*76
|
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|
$GPRMC,141916.00,A,4545.6422,N,00306.6037,E,0.1,211.1,010206,,*3B
|
||
|
$GPGLL,4545.6422,N,00306.6037,E,141916.00,A*0B
|
||
|
$GPGGA,141916.00,4545.0484,N,00306.6037,E,1,05,3.4,500.0,M,,M,,*70
|
||
|
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
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$GPVTG,211.1,T,,M,0.1,N,0.2,K*60
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|
$GPZDA,141916.00,01,02,2006,00,00*6B
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||
|
$GPGSV,3,1,10,01,13,142,45,03,48,144,48,11,41,277,,14,27,104,43*78
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|
$GPGSV,3,2,10,15,03,077,,18,04,041,44,19,85,271,,20,08,214,*7A
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||
|
$GPGSV,3,3,10,22,39,053,48,28,15,320,*77
|
||
|
$GPRMC,141917.00,A,4545.6422,N,00306.6039,E,0.3,122.3,010206,,*37
|
||
|
$GPGLL,4545.6422,N,00306.6039,E,141917.00,A*04
|
||
|
$GPGGA,141917.00,4545.0726,N,00306.6039,E,1,05,3.4,499.6,M,,M,,*73
|
||
|
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
|
||
|
$GPVTG,122.3,T,,M,0.3,N,0.5,K*64
|
||
|
$GPZDA,141917.00,01,02,2006,00,00*6A
|
||
|
$GPGSV,3,1,10,01,13,142,45,03,48,144,46,11,41,277,,14,27,104,41*74
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|
$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C
|
||
|
$GPGSV,3,3,10,22,39,053,48,28,15,320,*77
|
||
|
$GPRMC,141918.00,A,4545.6421,N,00306.6034,E,0.5,252.2,010206,,*35
|
||
|
$GPGLL,4545.6421,N,00306.6034,E,141918.00,A*05
|
||
|
$GPGGA,141918.00,4545.0968,N,00306.6034,E,1,05,3.4,498.8,M,,M,,*7A
|
||
|
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
|
||
|
$GPVTG,252.2,T,,M,0.5,N,1.0,K*63
|
||
|
$GPZDA,141918.00,01,02,2006,00,00*65
|
||
|
$GPGSV,3,1,10,01,13,142,45,03,48,144,48,11,41,277,,14,27,104,42*79
|
||
|
$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C
|
||
|
$GPGSV,3,3,10,22,38,053,49,28,15,320,*77
|
||
|
$GPRMC,141919.00,A,4545.6420,N,00306.6040,E,0.6,95.2,010206,,*0C
|
||
|
$GPGLL,4545.6420,N,00306.6040,E,141919.00,A*06
|
||
|
$GPGGA,141919.00,4545.1210,N,00306.6040,E,1,05,3.4,500.2,M,,M,,*77
|
||
|
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
|
||
|
$GPVTG,95.2,T,,M,0.6,N,1.2,K*5B
|
||
|
$GPZDA,141919.00,01,02,2006,00,00*64
|
||
|
$GPGSV,3,1,10,01,13,142,46,03,48,144,49,11,41,277,,14,27,104,42*7B
|
||
|
$GPGSV,3,2,10,15,03,077,,18,04,041,43,19,85,271,,20,08,214,*7D
|
||
|
$GPGSV,3,3,10,22,38,053,49,28,15,320,*77
|
||
|
$GPRMC,141920.00,A,4545.6419,N,00306.6039,E,0.2,133.1,010206,,*38
|
||
|
$GPGLL,4545.6419,N,00306.6039,E,141920.00,A*08
|
||
|
$GPGGA,141920.00,4545.1410,N,00306.6039,E,1,05,3.4,500.0,M,,M,,*77
|
||
|
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
|
||
|
$GPVTG,133.1,T,,M,0.2,N,0.4,K*66
|
||
|
$GPZDA,141920.00,01,02,2006,00,00*6E
|
||
|
$GPGSV,3,1,10,01,13,142,45,03,48,144,46,11,41,277,,14,27,104,43*76
|
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|
$GPGSV,3,2,10,15,03,077,,18,04,041,41,19,85,271,,20,08,214,*7F
|
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|
$GPGSV,3,3,10,22,38,053,50,28,15,320,*7F
|
||
|
$GPRMC,141921.00,A,4545.6419,N,00306.6043,E,0.6,103.1,010206,,*33
|
||
|
$GPGLL,4545.6419,N,00306.6043,E,141921.00,A*04
|
||
|
$GPGGA,141921.00,4545.1610,N,00306.6043,E,1,05,3.4,499.8,M,,M,,*70
|
||
|
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
|
||
|
$GPVTG,103.1,T,,M,0.6,N,1.1,K*65
|
||
|
$GPZDA,141921.00,01,02,2006,00,00*6F
|
||
|
$GPGSV,3,1,10,01,13,142,46,03,48,144,48,11,41,277,,14,27,104,42*7A
|
||
|
$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C
|
||
|
$GPGSV,3,3,10,22,38,053,48,28,15,320,*76
|
||
|
$GPRMC,141922.00,A,4545.6418,N,00306.6046,E,0.7,96.9,010206,,*00
|
||
|
$GPGLL,4545.6418,N,00306.6046,E,141922.00,A*03
|
||
|
$GPGGA,141922.00,4545.1810,N,00306.6046,E,1,05,3.4,500.6,M,,M,,*77
|
||
|
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
|
||
|
$GPVTG,96.9,T,,M,0.7,N,1.3,K*53
|
||
|
$GPZDA,141922.00,01,02,2006,00,00*6C
|
||
|
$GPGSV,3,1,10,01,13,142,47,03,48,144,46,11,41,277,,14,27,104,43*74
|
||
|
$GPGSV,3,2,10,15,03,077,,18,04,041,43,19,85,271,,20,08,214,*7D
|
||
|
$GPGSV,3,3,10,22,38,053,48,28,15,320,*76
|
||
|
$GPRMC,141923.00,A,4545.6417,N,00306.6046,E,0.3,113.6,010206,,*39
|
||
|
$GPGLL,4545.6417,N,00306.6046,E,141923.00,A*0D
|
||
|
$GPGGA,141923.00,4545.2010,N,00306.6046,E,1,05,3.4,500.6,M,,M,,*7D
|
||
|
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
|
||
|
$GPVTG,113.6,T,,M,0.3,N,0.7,K*61
|
||
|
$GPZDA,141923.00,01,02,2006,00,00*6D
|
||
|
$GPGSV,3,1,10,01,13,142,45,03,48,144,47,11,41,277,,14,27,104,41*75
|
||
|
$GPGSV,3,2,10,15,03,077,,18,04,041,43,19,85,271,,20,08,214,*7D
|
||
|
$GPGSV,3,3,10,22,38,053,49,28,15,320,*77
|
||
|
$GPRMC,141924.00,A,4545.6416,N,00306.6044,E,0.2,197.7,010206,,*31
|
||
|
$GPGLL,4545.6416,N,00306.6044,E,141924.00,A*09
|
||
|
$GPGGA,141924.00,4545.2210,N,00306.6044,E,1,05,3.4,500.5,M,,M,,*79
|
||
|
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
|
||
|
$GPVTG,197.7,T,,M,0.2,N,0.4,K*6E
|
||
|
$GPZDA,141924.00,01,02,2006,00,00*6A
|
||
|
$GPGSV,3,1,10,01,13,142,45,03,48,144,47,11,41,277,,14,27,104,40*74
|
||
|
$GPGSV,3,2,10,15,03,077,,18,04,041,43,19,85,271,,20,08,214,*7D
|
||
|
$GPGSV,3,3,10,22,38,053,49,28,15,320,*77
|
||
|
$GPRMC,141925.00,A,4545.6415,N,00306.6046,E,0.2,130.8,010206,,*33
|
||
|
$GPGLL,4545.6415,N,00306.6046,E,141925.00,A*09
|
||
|
$GPGGA,141925.00,4545.2410,N,00306.6046,E,1,05,3.4,501.4,M,,M,,*7C
|
||
|
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
|
||
|
$GPVTG,130.8,T,,M,0.2,N,0.5,K*6D
|
||
|
$GPZDA,141925.00,01,02,2006,00,00*6B
|
||
|
$GPGSV,3,1,10,01,13,142,45,03,48,144,47,11,41,277,,14,27,104,40*74
|
||
|
$GPGSV,3,2,10,15,03,077,,18,04,041,41,19,85,271,,20,08,214,*7F
|
||
|
$GPGSV,3,3,10,22,38,053,47,28,15,320,*79
|
||
|
$GPRMC,141926.?E,0.2,260.8,010206,,*34
|
||
| branch/fall_massamba/branch/faye/sp4a12/trame.c | ||
|---|---|---|
|
/* Fichier trames.c - Gestion et decodage des trames */
|
||
|
/* Ce fichier sera fourni */
|
||
|
|
||
|
#include <stdio.h>
|
||
|
#include <stdlib.h>
|
||
|
#include "trame.h"
|
||
|
|
||
|
#define FICHIER_TRAMES "gps.log" /* Par exemple */
|
||
|
|
||
|
#define MAX_FRAME_LENGTH 80
|
||
|
|
||
|
static char trame_buf[MAX_FRAME_LENGTH];
|
||
|
static FILE *trame_fic;
|
||
|
|
||
|
int trame_init(void)
|
||
|
{
|
||
|
trame_fic = fopen(FICHIER_TRAMES, "r");
|
||
|
if (trame_fic)
|
||
|
return 1;
|
||
|
|
||
|
fprintf(stderr, "Impossible d'ouvrir le fichier %s\n", FICHIER_TRAMES);
|
||
|
return 0;
|
||
|
}
|
||
|
|
||
|
char *trame_suivante(void)
|
||
|
{
|
||
|
return fgets(trame_buf, MAX_FRAME_LENGTH-1, trame_fic);
|
||
|
}
|
||
| branch/fall_massamba/branch/faye/sp4a3/sp4a3_kalman.c | ||
|---|---|---|
|
// Pour compiler : gcc sp4a3_kalman.c -lm
|
||
|
|
||
|
#include <stdlib.h>
|
||
|
#include <stdio.h>
|
||
|
#include <math.h>
|
||
|
|
||
|
#include "sp4a3_kalman_extra.h"
|
||
|
|
||
|
|
||
|
void Add_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double B[nb][mb], double R[na][ma]){
|
||
|
|
||
|
}
|
||
|
|
||
|
void Inverse_Mat_22(int n,int m,double A[n][m],double B[n][m]){
|
||
|
|
||
|
}
|
||
|
|
||
|
void Transpose_Mat(int n,int m,double A[n][m],double R[m][n]){
|
||
|
int i,j;
|
||
|
for (i=0;i<n;i++)
|
||
|
for (j=0;j<m;j++)
|
||
|
R[j][i]=A[i][j];
|
||
|
}
|
||
|
|
||
|
void Sub_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double B[nb][mb], double R[na][ma]){
|
||
|
|
||
|
}
|
||
|
|
||
|
void Mul_Mat_Mat(int na,int ma,double A[na][ma], int nb,int mb,double B[nb][mb], double R[na][mb]){
|
||
|
|
||
|
}
|
||
|
|
||
|
|
||
|
|
||
|
void tests_unitaires(void){
|
||
|
//Matrices d'entrée
|
||
|
double T21a[2][1]={{7},{-5}};
|
||
|
double T21b[2][1]={{-3},{46}};
|
||
|
double T22a[2][2]={{12,78},{-5,13}};
|
||
|
double T22b[2][2]={{-25,36},{7,42}};
|
||
|
double T24[2][4]={{7,-71,-12,3},{41,123,-5,10}};
|
||
|
double T41a[4][1]={{45},{-123},{-78},{-410}};
|
||
|
double T41b[4][1]={{-10},{45},{27},{-9}};
|
||
|
double T42a[4][2]={{-73,45},{10,12},{-41,-35},{8,-23}};
|
||
|
double T44a[4][4]={{1,2,7,4},{6,5,7,8},{9,8,7,6},{5,4,3,2}};
|
||
|
double T44b[4][4]={{12,13,14,15},{21,22,23,40},{78,45,12,3},{54,10,12,47}};
|
||
|
|
||
|
//Matrices résultat
|
||
|
double R21[2][1],R22[2][2],R24[2][4],R41[4][1],R42[4][2],R44[4][4];
|
||
|
|
||
|
//Matrices de validation
|
||
|
double RST21[2][1]={{10},{-51}};
|
||
|
double RInvT22[2][2]={{0.02380952380952381,-0.1428571428571428},{0.009157509157509158,0.02197802197802198}};
|
||
|
double RAT22[2][2]={{-13,114},{2,55}};
|
||
|
double RTT24[4][2]={{7,41},{-71,123},{-12,-5},{3,10}};
|
||
|
double RMT24T41[2][1]={{8754},{-16994}};
|
||
|
double RMT24T42[2][2]={{-705,-186},{-1478,3266}};
|
||
|
double RMT24T44[2][4]={{-512,-425,-523,-606},{784,697,1143,1138}};
|
||
|
double RAT41[4][1]={{35},{-78},{-51},{-419}};
|
||
|
double RMT42T21[4][1]={{-736},{10},{-112},{171}};
|
||
|
double RMT42T22[4][2]={{-1101,-5109},{60,936},{-317,-3653},{211,325}};
|
||
|
double RMT42T24[4][4]={{1334,10718,651,231},{562,766,-180,150},{-1722,-1394,667,-473},{-887,-3397,19,-206}};
|
||
|
double RTT44[4][4]={{1,6,9,5},{2,5,8,4},{7,7,7,3},{4,8,6,2}};
|
||
|
double RMT44T41[4][1]={{-2387},{-4171},{-3585},{-1321}};
|
||
|
double RMT44T42[4][2]={{-308,-268},{-611,-99},{-816,118},{-432,122}};
|
||
|
double RAT44[4][4]={{13,15,21,19},{27,27,30,48},{87,53,19,9},{59,14,15,49}};
|
||
|
double RST44[4][4]={{-11,-11,-7,-11},{-15,-17,-16,-32},{-69,-37,-5,3},{-49,-6,-9,-45}};
|
||
|
double RMT44T44[4][4]={{816,412,192,304},{1155,583,379,687},{1146,668,466,758},{486,308,222,338}};
|
||
|
|
||
|
printf("Execution des tests unitaires.\n");
|
||
|
Transpose_Mat(2,4,T24,R42); if (!Equal_Mat_Mat(RTT24,R42)) error("Erreur calcul Transposition 2x4");
|
||
|
Transpose_Mat(4,4,T44a,R44); if (!Equal_Mat_Mat(RTT44,R44)) error("Erreur calcul Transposition 4x4");
|
||
|
Inverse_Mat_22(2,2,T22a,R22); if (!Equal_Mat_Mat(RInvT22,R22)) error("Erreur calcul Inversion 2x2");
|
||
|
Add_Mat_Mat(2,2,T22a,2,2,T22b,R22); if (!Equal_Mat_Mat(RAT22,R22)) error("Erreur calcul Addition 2x2");
|
||
|
Add_Mat_Mat(4,4,T44a,4,4,T44b,R44); if (!Equal_Mat_Mat(RAT44,R44)) error("Erreur calcul Addition 4x4");
|
||
|
Add_Mat_Mat(4,1,T41a,4,1,T41b,R41); if (!Equal_Mat_Mat(RAT41,R41)) error("Erreur calcul Addition 4x1");
|
||
|
Sub_Mat_Mat(2,1,T21a,2,1,T21b,R21); if (!Equal_Mat_Mat(RST21,R21)) error("Erreur calcul Soustraction 2x1");
|
||
|
Sub_Mat_Mat(4,4,T44a,4,4,T44b,R44); if (!Equal_Mat_Mat(RST44,R44)) error("Erreur calcul Soustraction 4x4");
|
||
|
Mul_Mat_Mat(4,4,T44a,4,4,T44b,R44); if (!Equal_Mat_Mat(RMT44T44,R44)) error("Erreur calcul Multiplication 4x4 4x4");
|
||
|
Mul_Mat_Mat(4,4,T44a,4,1,T41a,R41); if (!Equal_Mat_Mat(RMT44T41,R41)) error("Erreur calcul Multiplication 4x4 4x1");
|
||
|
Mul_Mat_Mat(4,4,T44a,4,2,T42a,R42); if (!Equal_Mat_Mat(RMT44T42,R42)) error("Erreur calcul Multiplication 4x4 4x2");
|
||
|
Mul_Mat_Mat(4,2,T42a,2,1,T21a,R41); if (!Equal_Mat_Mat(RMT42T21,R41)) error("Erreur calcul Multiplication 4x2 2x1");
|
||
|
Mul_Mat_Mat(4,2,T42a,2,2,T22a,R42); if (!Equal_Mat_Mat(RMT42T22,R42)) error("Erreur calcul Multiplication 4x2 2x2");
|
||
|
Mul_Mat_Mat(4,2,T42a,2,4,T24,R44); if (!Equal_Mat_Mat(RMT42T24,R44)) error("Erreur calcul Multiplication 4x2 2x4");
|
||
|
Mul_Mat_Mat(2,4,T24,4,1,T41a,R21); if (!Equal_Mat_Mat(RMT24T41,R21)) error("Erreur calcul Multiplication 2x4 4x1");
|
||
|
Mul_Mat_Mat(2,4,T24,4,2,T42a,R22); if (!Equal_Mat_Mat(RMT24T42,R22)) error("Erreur calcul Multiplication 2x4 4x2");
|
||
|
Mul_Mat_Mat(2,4,T24,4,4,T44a,R24); if (!Equal_Mat_Mat(RMT24T44,R24)) error("Erreur calcul Multiplication 2x4 4x4");
|
||
|
printf("Test unitaires OK.\n");
|
||
|
}
|
||
|
|
||
|
int main(int argc,char **argv){
|
||
|
|
||
|
tests_unitaires();
|
||
|
|
||
|
FILE* fichier = fopen("pos_t_x_y.dat","r");
|
||
|
if (fichier == NULL)
|
||
|
error("Impossible d'ouvrir le fichier GPGGA_data.dat");
|
||
|
|
||
|
FILE * Fout = Fout = fopen("output.dat","w");
|
||
|
if (fichier == NULL)
|
||
|
error("Impossible d'ouvrir le fichier output.dat");
|
||
|
|
||
|
printf("Kalman\n");
|
||
|
double t = 0;
|
||
|
double t0,x0,y0;
|
||
|
double xobs,yobs;
|
||
|
double oldx,oldy;
|
||
|
double dx=0,dy=0,dt=0.1;
|
||
|
int cpt = 0;
|
||
|
|
||
|
// kalman param
|
||
|
double sigma_etat = 10.0;
|
||
|
double sigma_observation = 2.0;
|
||
|
double X[4][1] = {{0},{0},{0},{0}};
|
||
|
|
||
|
double P[4][4] = {{sigma_etat*sigma_etat, 0, 0, 0},
|
||
|
{0, sigma_etat*sigma_etat, 0, 0},
|
||
|
{0, 0, 0, 0},
|
||
|
{0, 0, 0, 0}};
|
||
|
|
||
|
double Q[4][4] = {{0, 0, 0, 0},
|
||
|
{0, 0, 0, 0},
|
||
|
{0, 0, 0.1, 0},
|
||
|
{0, 0, 0, 0.1}};
|
||
|
|
||
|
double R[2][2] = {{sigma_observation*sigma_observation, 0},
|
||
|
{0 , sigma_observation*sigma_observation}};
|
||
|
|
||
|
double K[4][2];
|
||
|
double H[2][4] = {{1, 0, 0, 0},
|
||
|
{0, 1, 0, 0}};
|
||
|
double HT[4][2];
|
||
|
Transpose_Mat(2,4,H,HT);
|
||
|
|
||
|
double F[4][4] = {{1, 0, dt, 0},
|
||
|
{0, 1, 0, dt},
|
||
|
{0, 0, 1, 0},
|
||
|
{0, 0, 0, 1}};
|
||
|
double FT[4][4];
|
||
|
Transpose_Mat(4,4,F,FT);
|
||
|
|
||
|
while(fscanf(fichier, "%lf %lf %lf", &t, &xobs, &yobs)>0){
|
||
|
printf("-------------%04d--------------\n",cpt);
|
||
|
|
||
|
if (cpt ==0)
|
||
|
{
|
||
|
t0=t;x0=xobs;y0=yobs;
|
||
|
xobs=xobs-x0;yobs=yobs-y0;
|
||
|
Plot_Mat(F,"F = ");
|
||
|
Plot_Mat(H,"H = ");
|
||
|
Plot_Mat(R,"R = ");
|
||
|
}
|
||
|
else
|
||
|
{
|
||
|
t -= t0;xobs -= x0;yobs -= y0;
|
||
|
|
||
|
debug=0; ///Mettre à 1 pour afficher les matrices.
|
||
|
///Ajouter votre code ci-dessous///
|
||
|
// Kalman
|
||
|
|
||
|
// X = F*X
|
||
|
Plot_Mat(X," X(k+1|k) = ");
|
||
|
|
||
|
//P = F*P*F'+Q;
|
||
|
Plot_Mat(P,"P(k+1|k) = F.P(k|k).FT + Q = ");
|
||
|
|
||
|
// K = P*H' / ( H*P*H' + R);
|
||
|
Plot_Mat(K,"K = ");
|
||
|
|
||
|
//X = X + K*([xobs(i);yobs(i)]-H*X);
|
||
|
//Plot_Mat(Delta,"DELTA = Obs - H.X(k+1|k)");
|
||
|
Plot_Mat(X," X(k+1|k+1) = X(k+1|k) + K.Delta = ");
|
||
|
|
||
|
// P = P - K*H*P;
|
||
|
Plot_Mat(P," P(k+1|k+1) = P(k+1|k) - K.H.P(k+1|k) = ");
|
||
|
|
||
|
/// La matrice X doit contenir la position filtrée ///
|
||
|
}
|
||
|
t = cpt * dt;
|
||
|
dx = (xobs - oldx)/dt;
|
||
|
dy = (yobs - oldy)/dt;
|
||
|
fprintf(Fout,"%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\n",t,xobs,yobs,sqrt(dx*dx+dy*dy)*dt,X[0][0],X[1][0],X[2][0],X[3][0],sqrt(X[2][0]*X[2][0]+X[3][0]*X[3][0])*dt);
|
||
|
oldx = xobs;
|
||
|
oldy = yobs;
|
||
|
cpt ++;
|
||
|
}
|
||
|
fclose(Fout);
|
||
|
fclose(fichier);
|
||
|
|
||
|
system ("gnuplot -p -e \"plot 'output.dat' u 5:6 w l, '' u 2:3 w l\";");
|
||
|
system ("gnuplot -p -e \"plot 'output.dat' u 1:9 w l, '' u 1:4 w l\";");
|
||
|
system ("gnuplot -p -e \"plot 'output.dat' u 9 w l , 'vitesse_reelle.dat' u 2 w l\";");
|
||
|
return 0;
|
||
|
}
|
||
| branch/fall_massamba/branch/faye/sp4a3/sp4a3_kalman.cbp | ||
|---|---|---|
|
<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
|
||
|
<CodeBlocks_project_file>
|
||
|
<FileVersion major="1" minor="6" />
|
||
|
<Project>
|
||
|
<Option title="sp4a3_kalman" />
|
||
|
<Option pch_mode="2" />
|
||
|
<Option compiler="gcc" />
|
||
|
<Build>
|
||
|
<Target title="Debug">
|
||
|
<Option output="./test_kalman" prefix_auto="1" extension_auto="1" />
|
||
|
<Option object_output="." />
|
||
|
<Option type="1" />
|
||
|
<Option compiler="gcc" />
|
||
|
<Option parameters="debug" />
|
||
|
<Compiler>
|
||
|
<Add option="-g" />
|
||
|
</Compiler>
|
||
|
</Target>
|
||
|
<Target title="Release">
|
||
|
<Option output="./test_kalman" prefix_auto="1" extension_auto="1" />
|
||
|
<Option object_output="." />
|
||
|
<Option type="1" />
|
||
|
<Option compiler="gcc" />
|
||
|
<Compiler>
|
||
|
<Add option="-O2" />
|
||
|
</Compiler>
|
||
|
<Linker>
|
||
|
<Add option="-s" />
|
||
|
</Linker>
|
||
|
</Target>
|
||
|
</Build>
|
||
|
<Compiler>
|
||
|
<Add option="-Wall" />
|
||
|
</Compiler>
|
||
|
<Unit filename="sp4a3_kalman.c">
|
||
|
<Option compilerVar="CC" />
|
||
|
</Unit>
|
||
|
<Unit filename="sp4a3_kalman_extra.c">
|
||
|
<Option compilerVar="CC" />
|
||
|
</Unit>
|
||
|
<Unit filename="sp4a3_kalman_extra.h" />
|
||
|
<Extensions>
|
||
|
<code_completion />
|
||
|
<envvars />
|
||
|
<debugger />
|
||
|
<lib_finder disable_auto="1" />
|
||
|
</Extensions>
|
||
|
</Project>
|
||
|
</CodeBlocks_project_file>
|
||
| branch/fall_massamba/branch/faye/sp4a3/vitesse_reelle.dat | ||
|---|---|---|
|
120000.100000 0.000000
|
||
|
120000.200000 0.000000
|
||
|
120000.300000 0.000000
|
||
|
120000.400000 0.000000
|
||
|
120000.500000 0.000000
|
||
|
120000.600000 0.000000
|
||
|
120000.700000 0.000000
|
||
|
120000.800000 0.000000
|
||
|
120000.900000 0.000000
|
||
|
120001.000000 0.000000
|
||
|
120001.100000 0.000000
|
||
|
120001.200000 0.000000
|
||
|
120001.300000 0.000000
|
||
|
120001.400000 0.000000
|
||
|
120001.500000 0.000000
|
||
|
120001.600000 0.000000
|
||
|
120001.700000 0.000000
|
||
|
120001.800000 0.000000
|
||
|
120001.900000 0.000000
|
||
|
120002.000000 0.000000
|
||
|
120002.100000 0.000000
|
||
|
120002.200000 0.000000
|
||
|
120002.300000 0.000000
|
||
|
120002.400000 0.000000
|
||
|
120002.500000 0.000000
|
||
|
120002.600000 0.000000
|
||
|
120002.700000 0.000000
|
||
|
120002.800000 0.000000
|
||
|
120002.900000 0.000000
|
||
|
120003.000000 0.000000
|
||
|
120003.100000 0.000000
|
||
|
120003.200000 0.000000
|
||
|
120003.300000 0.000000
|
||
|
120003.400000 0.000000
|
||
|
120003.500000 0.000000
|
||
|
120003.600000 0.000000
|
||
|
120003.700000 0.000000
|
||
|
120003.800000 0.000000
|
||
|
120003.900000 0.000000
|
||
|
120004.000000 0.000000
|
||
|
120004.100000 0.000000
|
||
|
120004.200000 0.000000
|
||
|
120004.300000 0.000000
|
||
|
120004.400000 0.000000
|
||
|
120004.500000 0.000000
|
||
|
120004.600000 0.000000
|
||
|
120004.700000 0.000000
|
||
|
120004.800000 0.000000
|
||
|
120004.900000 0.000000
|
||
|
120005.000000 0.000000
|
||
|
120005.100000 0.000000
|
||
|
120005.200000 0.000000
|
||
|
120005.300000 0.000000
|
||
|
120005.400000 0.000000
|
||
|
120005.500000 0.000000
|
||
|
120005.600000 0.000000
|
||
|
120005.700000 0.000000
|
||
|
120005.800000 0.000000
|
||
|
120005.900000 0.000000
|
||
|
120006.000000 0.000000
|
||
|
120006.100000 0.000000
|
||
|
120006.200000 0.000000
|
||
|
120006.300000 0.000000
|
||
|
120006.400000 0.000000
|
||
|
120006.500000 0.000000
|
||
|
120006.600000 0.000000
|
||
|
120006.700000 0.000000
|
||
|
120006.800000 0.000000
|
||
|
120006.900000 0.000000
|
||
|
120007.000000 0.000000
|
||
|
120007.100000 0.000000
|
||
|
120007.200000 0.000000
|
||
|
120007.300000 0.000000
|
||
|
120007.400000 0.000000
|
||
|
120007.500000 0.000000
|
||
|
120007.600000 0.000000
|
||
|
120007.700000 0.000000
|
||
|
120007.800000 0.000000
|
||
|
120007.900000 0.000000
|
||
|
120008.000000 0.000000
|
||
|
120008.100000 0.000000
|
||
|
120008.200000 0.000000
|
||
|
120008.300000 0.000000
|
||
|
120008.400000 0.000000
|
||
|
120008.500000 0.000000
|
||
|
120008.600000 0.000000
|
||
|
120008.700000 0.000000
|
||
|
120008.800000 0.000000
|
||
|
120008.900000 0.000000
|
||
|
120009.000000 0.000000
|
||
|
120009.100000 0.000000
|
||
|
120009.200000 0.000000
|
||
|
120009.300000 0.000000
|
||
|
120009.400000 0.000000
|
||
|
120009.500000 0.000000
|
||
|
120009.600000 0.000000
|
||
|
120009.700000 0.000000
|
||
|
120009.800000 0.000000
|
||
|
120009.900000 0.000000
|
||
|
120010.000000 0.000000
|
||
|
120010.100000 0.000000
|
||
|
120010.200000 0.000000
|
||
|
120010.300000 0.000000
|
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120090.900000 2.396666
|
||
|
120091.000000 2.569248
|
||
|
120091.100000 2.335540
|
||
|
120091.200000 2.451741
|
||
|
120091.300000 2.399453
|
||
|
120091.400000 2.399453
|
||
|
120091.500000 2.468928
|
||
|
120091.600000 2.468928
|
||
|
120091.700000 2.360727
|
||
|
120091.800000 2.438619
|
||
|
120091.900000 2.438619
|
||
|
120092.000000 2.336237
|
||
|
120092.100000 2.336237
|
||
|
120092.200000 2.236706
|
||
|
120092.300000 2.326432
|
||
|
120092.400000 2.234021
|
||
|
120092.500000 2.326432
|
||
|
120092.600000 2.234021
|
||
|
120092.700000 2.331498
|
||
|
120092.800000 2.246812
|
||
|
120092.900000 2.246812
|
||
|
120093.000000 2.166600
|
||
|
120093.100000 2.166600
|
||
|
120093.200000 2.274816
|
||
|
120093.300000 2.166599
|
||
|
120093.400000 2.203291
|
||
|
120093.500000 2.254805
|
||
|
120093.600000 2.137267
|
||
|
120093.700000 2.198017
|
||
|
120093.800000 2.077268
|
||
|
120093.900000 2.198016
|
||
|
120094.000000 2.103970
|
||
|
120094.100000 2.272433
|
||
|
120094.200000 2.103968
|
||
|
120094.300000 2.196996
|
||
|
120094.400000 2.067597
|
||
|
120094.500000 2.196995
|
||
|
120094.600000 2.169972
|
||
|
120094.700000 2.150462
|
||
|
120094.800000 2.282962
|
||
|
120094.900000 2.150460
|
||
|
120095.000000 2.138668
|
||
|
120095.100000 2.268142
|
||
|
120095.200000 2.134721
|
||
|
120095.300000 2.271853
|
||
|
120095.400000 2.150455
|
||
|
120095.500000 2.282954
|
||
Formats disponibles : Unified diff
Erreur Branch Massamba (Laffont).