Révision 457
Ajouté par Youssef MORSY il y a presque 3 ans
| sp4a3_kalman.c | ||
|---|---|---|
|
{
|
||
|
for (int j = 0; j < mb; j++)
|
||
|
{
|
||
|
l=A[i][j] + B[i][j];
|
||
|
l=A[i][j] + B[i][j]; // faire l4ADDITION membre a membre
|
||
|
R[i][j] = l;
|
||
|
}
|
||
|
}
|
||
| ... | ... | |
|
|
||
|
|
||
|
void Transpose_Mat(int n,int m,double A[n][m],double R[m][n]){
|
||
|
int i,j;
|
||
|
int i,j;// faire la soustraction membre a membre de
|
||
|
for (i=0;i<n;i++)
|
||
|
{
|
||
|
for (j=0;j<m;j++)
|
||
| ... | ... | |
|
Transpose_Mat(4,4,F,FT);
|
||
|
double KK[2][2];
|
||
|
double KKK[4][4];
|
||
|
double KKKK[4][2];
|
||
|
double KKKK[4][2];
|
||
|
|
||
|
double XX[2][1];
|
||
|
double YY[2][1];
|
||
|
double XXX[4][1];
|
||
|
double X1[4][1];
|
||
|
double X2[4][1];
|
||
|
double P1[4][4];
|
||
|
double P2[4][4];
|
||
|
double KKKKK[4][2];
|
||
|
double KKK1[4][4];
|
||
|
double PPPP[4][4];
|
||
|
double KKKKKK[2][2];
|
||
|
double KKKKKKK[4][2];
|
||
|
double P9[4][4];
|
||
|
double K3[2][2];
|
||
|
|
||
|
while(fscanf(fichier, "%lf %lf %lf", &t, &xobs, &yobs)>0){
|
||
|
while(fscanf(fichier, "%lf %lf %lf", &t, &xobs, &yobs)>0 ){
|
||
|
printf("-------------%04d--------------\n",cpt);
|
||
|
|
||
|
|
||
|
if (cpt ==0)
|
||
|
{
|
||
| ... | ... | |
|
Plot_Mat(R,"R = ");
|
||
|
}
|
||
|
else
|
||
|
{
|
||
|
{
|
||
|
int i,j=0;
|
||
|
t -= t0;xobs -= x0;yobs -= y0;
|
||
|
|
||
|
debug=1; ///Mettre à 1 pour afficher les matrices.
|
||
|
///Ajouter votre code ci-dessous///
|
||
|
// Kalman
|
||
|
|
||
|
double Mobs[2][1] ={{xobs},{yobs}};
|
||
|
// X = F*X
|
||
|
Mul_Mat_Mat(4,4,F, 4,1,X, X);
|
||
|
Plot_Mat(X," X(k+1|k) = ");
|
||
|
Mul_Mat_Mat(4,4,F, 4,1,X, X1);
|
||
|
Plot_Mat(X1," X(k+1|k) = ");
|
||
|
|
||
|
//P = F*P*F'+Q;
|
||
|
Mul_Mat_Mat(4,4,F, 4,4, P,P);
|
||
|
Transpose_Mat(4,4,F,F);
|
||
|
Mul_Mat_Mat(4,4,P, 4,4, F,P);
|
||
|
Add_Mat_Mat(4,4,P,4,4,R, P);
|
||
|
Plot_Mat(P,"P(k+1|k) = F.P(k|k).FT + Q = ");
|
||
|
|
||
|
Mul_Mat_Mat(4,4,F, 4,4, P,P1);
|
||
|
Mul_Mat_Mat(4,4,P1, 4,4, FT,P2);
|
||
|
Add_Mat_Mat(4,4,P2,4,4,Q, P9);
|
||
|
Plot_Mat(P9,"P(k+1|k) = F.P(k|k).FT + Q = ");
|
||
|
|
||
|
// K = P*H' / ( H*P*H' + R);
|
||
|
Mul_Mat_Mat(2,4,H, 4,4, P,KKKK);
|
||
|
Mul_Mat_Mat(2,4,H, 4,4, P9,KKKK);
|
||
|
Mul_Mat_Mat(2,4,KKKK, 4,2, HT,KK);
|
||
|
Add_Mat_Mat(2,2,KK,2,2,Q, KK);
|
||
|
Inverse_Mat_22(2,2,KK,KK);
|
||
|
Mul_Mat_Mat(4,4,P, 4,2, HT,K);
|
||
|
Mul_Mat_Mat(4,2,K, 2,2, KK,K);
|
||
|
Add_Mat_Mat(2,2,KK,2,2,R, K3);
|
||
|
Inverse_Mat_22(2,2,K3,KKKKKK);
|
||
|
Mul_Mat_Mat(4,4,P9, 4,2, HT,KKKKK);
|
||
|
Mul_Mat_Mat(4,2,KKKKK, 2,2, KKKKKK,KKKKKKK);
|
||
|
|
||
|
Plot_Mat(KKKKKKK,"K = ");
|
||
|
|
||
|
//X = X + K*([xobs(i);yobs(i)]-H*X);
|
||
|
|
||
|
Mul_Mat_Mat(2,4,H, 4,1, X1,XX);
|
||
|
Sub_Mat_Mat(2,1,Mobs,2,1,XX,YY);
|
||
|
Plot_Mat(YY,"DELTA = Obs - H.X(k+1|k)");
|
||
|
Mul_Mat_Mat(4,2,KKKKKKK, 2,1, YY,XXX);
|
||
|
Add_Mat_Mat(4,1,XXX,4,1,X1,X2);
|
||
|
|
||
|
Plot_Mat(X2," X(k+1|k+1) = X(k+1|k) + K.Delta = ");
|
||
|
|
||
|
// P = P - K*H*P;
|
||
|
Mul_Mat_Mat(4,2,KKKKKKK, 2,4, H,KKK);
|
||
|
Mul_Mat_Mat(4,4,KKK, 4,4, P9,KKK1);
|
||
|
Sub_Mat_Mat(4,4,P9,4,4,KKK1, PPPP);
|
||
|
Plot_Mat(PPPP," P(k+1|k+1) = P(k+1|k) - K.H.P(k+1|k) = ");
|
||
|
|
||
|
Plot_Mat(K,"K = ");
|
||
|
|
||
|
/// La matrice X doit contenir la position filtrée ///
|
||
|
for (int i = 0; i <4 ; i++)
|
||
|
{
|
||
|
for (int j = 0; j <1 ; j++)
|
||
|
{
|
||
|
X[i][j] = X2[i][j];
|
||
|
|
||
|
}
|
||
|
}
|
||
|
for (int i = 0; i <4 ; i++)
|
||
|
{
|
||
|
for (int j = 0; j <4 ; j++)
|
||
|
{
|
||
|
P[i][j] = PPPP[i][j];
|
||
|
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
//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;
|
||
Formats disponibles : Unified diff
tp3 terminee