Révision 491
Ajouté par Awa Semou FAYE il y a environ 3 ans
| tag/rc-1/faye_awasemou/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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//declaration de la structure position contenant la latitude et la longitude
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typedef struct {
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float latitude;
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float longitude;
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} Position ;
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// declaration d'une stucture permettant de decrire une zone renseignant la position et la vitesse limite associ?e
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typedef struct {
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Position rpos;
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float vitmax;
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} Zone ;
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//cr?ation d'une table de zone dangereuse
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Zone zones[] = {
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{{44.7887762, -3.012}, 50}, /* Descripteur de la premi?re zone */
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{{44.7891220, -3,013}, 70},
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{{45.7891220, 3,013}, 90},
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};
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//fonction qui permet de savoir si la trame commence par la chaine de caractere type(GPGGA)
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int trame_cmp(char* trame, char* type) //prise en paramete de la trame envoy?e et du type
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{
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int i;//variable permettant de faire l'iteration du tableau de caractere trame et type(on parcoure l'int?gralit? du tableau)
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int ok;//variable qui permet de retourner si la trame commence par le bon format(cad GPGGA) ou non
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ok=0|1;
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for (i=0;i<4;i++)// on tient en compte des 5 caracteres du debut de la trame car ce sont eux qui permettent de caract?riser le bon format de la trame
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{
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if (trame[i+1]==type[i])//on compare la trame recu et le type (GPGGA) en ignorant le caractere $ du debut de la trame
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{
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ok=1; //ok prend la valeur 1 si la trame commence par le bon format 0 sinon
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}else
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{
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ok=0; //0 sinon
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}
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}
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return ok;// on retourne resultat de ok pour connaitre si la trame a le bon format ou non(je dis le bon format car ici ce sont les trames commencant par GPGGA qui nous interessent)
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}
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//fonction qui permet de renvoyer la valeur d?cimale associ?e ? un caract?re donn? en param?tre
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int decode_int(char c) //prise en parametre d'un caractere c
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{
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int Vdecimal; //valeur en decimal du caractere pass? en parametre
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if ( c <= '9' && c >='0' ) //comparaison pour savoir si le parametre recu est compris entre 0 et 9
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{
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Vdecimal =c-48; // si oui affectation(methode permettant de donner la valeur en decimal du caractere)
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}else
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{
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Vdecimal=-1; //si le caractere pass? en parametre n'est pas compris entre 0 et9 on renvoie -1
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}
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return Vdecimal; //on retourne la valeur decimal du caractere
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}
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//fonction qui permet de renvoyer la valeur d?cimale des n premiers caract?res de la cha?ne ch
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int decode_nombre(char* ch, int n )
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{
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int i,s=0; //i=variable permettant de faire l'iteration du tableau de caractere ch(on parcoure tout le tableau en incrementant la valeur de i qui est initialis? a 0 pour un tableau)
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//s variable somme initialis?e a 0 permettant de recuperer le nombre n de caractere qu'on veut recuperer sur une chaine de caractere ch
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for(i=0;i<n;i++)//la boucle est execut?e de 0 a n fois
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{
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s=s*10 + decode_int(ch[i]);// on fait la somme des valeurs decimales apres avoir calculer la valeur d?cimale associ?e au caract?re en utilisant la fonction decode_int
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}
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return s;// on retourne la somme;
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}
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// fonction qui convertit la latitude en un nombre flottant
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float conversionLatitude(char* latitude)
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{
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//exemple latitude=3723.2475--> 37valDegre, 23Min_Entiere, (0.2475=2475*0.0001)2475MinDecimal donc 37,387458=37+(23+2475*0.0001)/60
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int valDegre,MinEntiere,MinDecimal; //declaration des variables permettant de recuperer les valeurs en degre,minutes entieres et minutes decimales de la latitude
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float resultatConversion ;
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valDegre=decode_nombre(latitude,2); //recuperer la valeur degre de la latitude
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MinEntiere=decode_nombre(&latitude[2],2); //recuperer la valeur minute entiere de la latitude
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MinDecimal=decode_nombre(&latitude[5],4); //recuperer la valeur minute decimal de la latitude
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resultatConversion=valDegre+((MinEntiere+MinDecimal*0.0001)/60);// operation de calcul du resultat du conversion de la latitude en valeur reelle
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return resultatConversion;//on renvoie la valeur du resultat de la convertion
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}
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// fonction qui convertit la longitude en un nombre flottant
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float conversionLongitude(char* longitude)
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{
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//exemple longitude =00306.6036,E signifie 3valDegre 06=MinEntiere , MinDecimal=6036' de longitude Est, soit 3,11006?
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int valDegre, MinEntiere,MinDecimal; //declaration des variables permettant de recuperer les valeurs en degre,minutes entieres et minutes decimales de la longitude
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float resultatConversion;
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valDegre=decode_nombre(longitude,3); //recuperer la valeur degre de la longitude
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MinEntiere=decode_nombre(&longitude[3],2); //recuperer la valeur minute entiere de la longitude
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MinDecimal=decode_nombre(&longitude[6],4); //recuperer la valeur minute decimal de la longitude
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resultatConversion=valDegre +((MinEntiere+MinDecimal*0.0001)/60);// resultat de la conversion de la longitude en valeur reelle
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return resultatConversion;//on renvoie la valeur du resultat de la convertion
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}
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// fonction qui convertit la latitude ou la longitude en flottant
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float fonctionGenerique(char* chaine)
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{
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float resultatConversion; // resultat de la conversion de la longitude ou la latitude en valeur reelle
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if(chaine[4]=='.') //comparaison pour connaitre si la 4ieme variable de la chaine est un point comme le montre cet exemple 3723.2475
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{
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resultatConversion=conversionLatitude(chaine);// appel de la fonction qui permet de faire la conversion en flottant de la latitute; le resultat de la conversion est mis dans la variable resutatConversion
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}
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else
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if(chaine[5]=='.') //comparaison pour connaitre si la 5ieme variable de la chaine est un point comme le montre cet exemple 00306.6036
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{
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resultatConversion=conversionLongitude(chaine);// appel de la fonction qui permet de faire la conversion en flottant de la longitute; le resultat de la conversion est mis dans la variable resutatConversion
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}
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return resultatConversion;//on renvoie la valeur du resultat de la convertion de la latitude ou de la longitude
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}
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// fonction qui permet de savoir si les trames sont au bon format "GPGGA" en renvoyant 1 et d'afficher la position cad la latitude et la longitude
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int decode_trame(char* trame,Position * position)
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{
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//exempletrame="$GPGGA,141914.00,4545.0000,N,00306.6036,E,1,05,3.4,499.3,M,,M,,*7D",
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if (trame_cmp(trame,"GPGGA")) //on utilise la fonction trame_cmp pour savoir si la trame a le bon format GPGGA
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{
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int i;
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char ch[10];// tableau dans lequel on stocke la longitude de la trame
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for (i=0;i<10;i++) ch[i]=trame[29+i];// on recupere la valeur de la longitude et on le met dans le tableau ch
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position->latitude=conversionLatitude(trame+17);//on fait la conversion de la latitude apres avoir recuperer la latitude
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position->longitude=conversionLongitude(ch);//on fait la conversion de la longitude
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return 1;//on retourne 1 pour montrer qu'on a la trame type GPGGA et qu'on a recuper? la position en latitude et longitude
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}
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return 0;//on retourne 0 sinon, la trame est ignor?e
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}
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//fonction qui permet de calculer la distance en deux points P1 et P2 en connaissant leurs latitudes et longitudes
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float calcul_distance(Position P1, Position P2)
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{
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float distance;//variable contenant la distance calcul?e entre ces deux points
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distance=(40000/360)*sqrt((P2.latitude-P1.latitude)*(P2.latitude-P1.latitude)+ (P2.longitude-P1.longitude)*(P2.longitude-P1.longitude));//40000(perimetre de la terre)/360(degr?)=111km ->1?=111km sur terre
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return distance; //on revoie la valeur du la distance calcul?e
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}
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//fonction qui calcule la vitesse correspondant au parcours de la distance entre deux points P1 et P2
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float calcul_vitesse(Position P1, Position P2)// on prend en parametre les positions des deux points en latitude et longitude
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{
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float vitesse;//Variable contenant la vitesse resultante entre les deux points
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vitesse=3600*calcul_distance(P1,P2);//on affecte a la vitesse la methode de calcul correspondante cad vitesse =distance /temps en faisant appel a la fonction calcul_distance sachant que le temps c'est 1s on a directement la vitesse en km/s donc on miltiplie par 3600 pour avoir la vitesse km/heure vu que 1h=3600s
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return vitesse; //on revoie la valeur du la vistesse calcul?e
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}
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//fonction qui calcule la distance ? la plus proche zone
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int distance_a_la_proche_zone(Position p, Zone r[],int nb_zones, float *d)
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{
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float diCalculee;// variables contenant la valeur de la distance calculee entre la position courante et l element[i] du tableau de zones dangereuses
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int i, index=0;//i=variable pour parcourir tout le tableau de zones et index=i qui minimise le tableau de zones par rapport a la distance calculee, elle correspond a la valeur de i pour laquelle on se situe a la zone la plus proche
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*d=calcul_distance(p,r[0].rpos);//on calcule la distance entre la position courante du vehicule et le premier element du tableau de zones dangereuses
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if(nb_zones>0)
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{
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for (i=1;i<nb_zones;i++)// on parcoure le tableau de zones de 1 a la valeurs maximales de zones
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{
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diCalculee=calcul_distance(p,r[i].rpos);//on calcule la distance entre la position courante du vehicule et l'element[i] du tableau de zones dangereuses
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if(*d>diCalculee) //si la distance calcul?e a partir du 1ere element du tableau est superieur a la distance calculee avec lelement dindice i du table
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{
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*d=diCalculee;// alors on affecte a la variable d la nouvelle distance la plus proche des zones dangereuses
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index=i;//a index on affecte la valeur de i qui minimise le tableau
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}
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}
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return index;
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}
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return -1;// on retourne -1 si la table est vide
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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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Position p;
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Position p_initiale; // on declare une position a laquelle on initialise la latitude et la longitude avec des valeurs
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p_initiale.latitude=45.750403;
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p_initiale.longitude= 3.110065;
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float distance; //distance a laquelle se trouve le vehicule
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float vitesse;
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float seuil=710;//seuil que le distance du vehicule ne doit pas depasser
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int index;
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if (decode_trame(trame,&p)) // on regarde si la trame est valide
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{
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printf ("> %s\n",trame);// on affiche la trame recue
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vitesse=calcul_vitesse(p_initiale,p);//on calcule la vitesse entre la position du vehicule et une position premiere d'une zone dangereuse
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index=distance_a_la_proche_zone(p,zones,sizeof(zones),&distance);// on calcule la distance la plus proche pour trouver l'index
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if ((distance<seuil) && (vitesse>zones[index].vitmax))// on compare si la distance est inferieur au seuil donne et si la vitesse est superieur a celle definie pour cette zone
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{
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//si cest cas on affiche la distance et la vistance puis on declenche une alarme
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printf(" La vitesse est egale a %f\n ",vitesse);
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printf("La distance est egale a %f \n ",distance);
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printf("Alarme ON \n");
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printf(" Zone numero %d \n ",index);
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}
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else
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//sinon l'alarme reste eteinte
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printf("Alarme OFF \n ");
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p_initiale = p;// on affecte a la position initiale la nouvelle position du vehicule car plus le vehicule roule plus il s'approche des zones dangereuses
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}
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return 0;
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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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{
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//variables concernant les tests unitaires calcul_vitesse et calcul_distance
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Position P1={45.75040333,3.110065};
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Position P2={45.7500,3.11006};
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//variable concernant le test unitaire decode_trame
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Position * position;
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//variables concernant le test unitaire distance_a_la_proche_zone
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int nb_zones=3;
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float d;
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//test unutaire basique
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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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//tests unutaires de la fonction trame_cmp
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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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printf ("Erreur Test unitaire trame_cmp.\n");
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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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//tests unutaires de la fonction decode_int
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if (decode_int('0')!=0){
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printf ("Erreur Test unitaire decode_int.\n");
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exit(-1);
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}
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if (decode_int('7')!=7){
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printf ("Erreur Test unitaire decode_int.\n");
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exit(-1);
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}
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if (decode_int('A')!=-1){
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printf ("Erreur Test unitaire decode_int.\n");
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exit(-1);
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}
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//tests unutaires de la fonction decode_nombre
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if (decode_nombre("7541",2)!=75){
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printf ("Erreur Test unitaire decode_nombre.\n");
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exit(-1);
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}
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if (decode_nombre("7541",3)!=754){
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printf ("Erreur Test unitaire decode_nombre.\n");
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exit(-1);
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}
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//tests unutaires de la fonction conversionLatitude
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if (conversionLatitude("3723.2475")-37.38745833 > 0.0001){
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printf ("Erreur Test unitaire conversion Latitude.\n");
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exit(-1);
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}
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if (conversionLatitude("4545.0000")-45.7500 > 0.0001){
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printf ("Erreur Test unitaire conversion Latitude.\n");
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exit(-1);
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}
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//tests unutaires de la fonction conversionLongitude
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if (conversionLongitude("00306.6039")- 3.110065 > 0.0001){
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printf ("Erreur Test unitaire conversion Longitude.\n");
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exit(-1);
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}
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if (conversionLongitude("00306.6036")- 3.11006 > 0.0001){
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printf ("Erreur Test unitaire conversion Longitude.\n");
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exit(-1);
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}
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//tests unutaires de la fonction decode_trame
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if(decode_trame("$GPGGA,141914.00,4545.0000,N,00306.6036,E,1,05,3.4,499.3,M,,M,,*7D",&position)!=1){
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printf("Erreur Test decode trame \n");
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exit(-1);
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}
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//tests unutaires de la fonction calcul_distance
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if (calcul_distance(P1,P2)- 0.04481788787 > 0.001){
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printf ("Erreur Test unitaire calcul_distance.\n");
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exit(-1);
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}
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//tests unutaires de la fonction calcul_vitesse
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if (calcul_vitesse(P1,P2)-1613.443 > 0.01){
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printf ("Erreur Test unitaire calcul_vitesse.\n");
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exit(-1);
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}
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||
|
//tests unutaires de la fonction distance_a_la_proche_zone
|
||
|
if (distance_a_la_proche_zone(P1,zones,nb_zones,&d)!=2){
|
||
|
printf ("Erreur Test unitaire distance_a_la_proche_zone.\n");
|
||
|
exit(-1);
|
||
|
}
|
||
|
// Test unitaire de la fonctionGenerique
|
||
|
if (fonctionGenerique("4545.0242") - 45.75040333 > 0.0001 )
|
||
|
{
|
||
|
printf("Erreur Test unitaire conversion latitude !!! \n");
|
||
|
exit(-1);
|
||
|
}
|
||
|
if (fonctionGenerique("00306.6039")- 3.110065 > 0.0001)
|
||
|
{
|
||
|
printf("Erreur Test unitaire conversion longitude !!! \n");
|
||
|
exit(-1);
|
||
|
}
|
||
|
}
|
||
|
|
||
|
|
||
|
// Ne pas modifier cette fonction
|
||
|
int main(int argc,char ** argv)
|
||
|
{
|
||
|
|
||
|
tests_unitaires();
|
||
|
// Affichage des trames definies dans la table trames.
|
||
|
printf ("Trames de tests tableau trames:\n");
|
||
|
int i=0;
|
||
|
while (trames[i])
|
||
|
traitement(trames[i++]);
|
||
|
|
||
|
if (!trame_init())
|
||
|
exit(-1);
|
||
|
// Affichage des trames du fichier gps.log
|
||
|
char *trame;
|
||
|
printf ("Trames de tests du fichier gps.log\n");
|
||
|
while ((trame = trame_suivante()))
|
||
|
traitement(trame);
|
||
|
|
||
|
return 0;
|
||
|
}
|
||
| tag/rc-1/faye_awasemou/sp4a12/gps.log | ||
|---|---|---|
|
$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C
|
||
|
$GPGSV,3,3,10,22,39,053,50,28,15,320,*7E
|
||
|
$GPRMC,141914.00,A,4545.6424,N,00306.6036,E,0.4,99.4,010206,,*0C
|
||
|
$GPGLL,4545.6424,N,00306.6036,E,141914.00,A*0E
|
||
|
$GPGGA,141914.00,4545.0000,N,00306.6036,E,1,05,3.4,499.3,M,,M,,*79
|
||
|
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
|
||
|
$GPVTG,99.4,T,,M,0.4,N,0.7,K*57
|
||
|
$GPZDA,141914.00,01,02,2006,00,00*69
|
||
|
$GPGSV,3,1,10,01,13,142,46,03,48,144,47,11,41,277,,14,27,104,42*75
|
||
|
$GPGSV,3,2,10,15,03,077,,18,04,041,41,19,85,271,,20,08,214,*7F
|
||
|
$GPGSV,3,3,10,22,39,053,48,28,15,320,*77
|
||
|
$GPRMC,141915.00,A,4545.6423,N,00306.6039,E,0.6,110.2,010206,,*31
|
||
|
$GPGLL,4545.6423,N,00306.6039,E,141915.00,A*07
|
||
|
$GPGGA,141915.00,4545.0242,N,00306.6039,E,1,05,3.4,499.5,M,,M,,*75
|
||
|
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
|
||
|
$GPVTG,110.2,T,,M,0.6,N,1.2,K*67
|
||
|
$GPZDA,141915.00,01,02,2006,00,00*68
|
||
|
$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,,18,04,041,42,19,85,271,,20,08,214,*7C
|
||
|
$GPGSV,3,3,10,22,39,053,49,28,15,320,*76
|
||
|
$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
|
||
|
$GPVTG,211.1,T,,M,0.1,N,0.2,K*60
|
||
|
$GPZDA,141916.00,01,02,2006,00,00*6B
|
||
|
$GPGSV,3,1,10,01,13,142,45,03,48,144,48,11,41,277,,14,27,104,43*78
|
||
|
$GPGSV,3,2,10,15,03,077,,18,04,041,44,19,85,271,,20,08,214,*7A
|
||
|
$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
|
||
|
$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
|
||
|
$GPGSV,3,2,10,15,03,077,,18,04,041,41,19,85,271,,20,08,214,*7F
|
||
|
$GPGSV,3,3,10,22,38,053,50,28,15,320,*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
|
||
| tag/rc-1/faye_awasemou/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);
|
||
|
}
|
||
| tag/rc-1/faye_awasemou/sp4a12/sp4a.cbp | ||
|---|---|---|
|
<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
|
||
|
<CodeBlocks_project_file>
|
||
|
<FileVersion major="1" minor="6" />
|
||
|
<Project>
|
||
|
<Option title="sp4a" />
|
||
|
<Option pch_mode="2" />
|
||
|
<Option compiler="gcc" />
|
||
|
<Build>
|
||
|
<Target title="Debug">
|
||
|
<Option output="sp4a" prefix_auto="1" extension_auto="1" />
|
||
|
<Option object_output=".\debug" />
|
||
|
<Option type="1" />
|
||
|
<Option compiler="gcc" />
|
||
|
<Compiler>
|
||
|
<Add option="-g" />
|
||
|
</Compiler>
|
||
|
</Target>
|
||
|
</Build>
|
||
|
<Compiler>
|
||
|
<Add option="-Wall" />
|
||
|
</Compiler>
|
||
|
<Unit filename="gps.log" />
|
||
|
<Unit filename="main.c">
|
||
|
<Option compilerVar="CC" />
|
||
|
</Unit>
|
||
|
<Unit filename="trame.c">
|
||
|
<Option compilerVar="CC" />
|
||
|
</Unit>
|
||
|
<Unit filename="trame.h" />
|
||
|
<Extensions>
|
||
|
<code_completion />
|
||
|
<envvars />
|
||
|
<debugger />
|
||
|
<lib_finder disable_auto="1" />
|
||
|
</Extensions>
|
||
|
</Project>
|
||
|
</CodeBlocks_project_file>
|
||
| tag/rc-1/faye_awasemou/sp4a12/trame.h | ||
|---|---|---|
|
|
||
|
int trame_init(void);
|
||
|
char * trame_suivante(void);
|
||
| tag/rc-1/faye_awasemou/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]){
|
||
|
int i,j;//i=variable permettant de parcourir les lignes et j=variable permettant de parcourir les colonnes
|
||
|
for(i=0;i<na;i++)
|
||
|
{
|
||
|
for(j=0;j<nb;j++)
|
||
|
{
|
||
|
R[i][j]=A[i][j]+B[i][j];
|
||
|
|
||
|
}
|
||
|
}
|
||
|
|
||
|
}
|
||
|
|
||
|
void Inverse_Mat_22(int n,int m,double A[n][m],double B[n][m]){
|
||
|
float detA;
|
||
|
detA=1/((A[0][0]*A[1][1])-(A[1][0]*A[0][1]));
|
||
|
B[0][0]=A[1][1]*detA;
|
||
|
B[0][1]=-A[0][1]*detA;
|
||
|
B[1][0]=-A[1][0]*detA;
|
||
|
B[1][1]=A[0][0]*detA;
|
||
|
|
||
|
|
||
|
|
||
|
}
|
||
|
|
||
|
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]){
|
||
|
int i,j;//i=variable permettant de parcourir les lignes et j=variable permettant de parcourir les colonnes
|
||
|
for(i=0;i<na;i++)
|
||
|
{
|
||
|
for(j=0;j<mb;j++)
|
||
|
{
|
||
|
R[i][j]=A[i][j]-B[i][j];
|
||
|
|
||
|
}
|
||
|
}
|
||
|
|
||
|
}
|
||
|
|
||
|
void Mul_Mat_Mat(int na,int ma,double A[na][ma], int nb,int mb,double B[nb][mb], double R[na][mb]){
|
||
|
int i,j,k;//i=variable permettant de parcourir les lignes et j=variable permettant de parcourir les colonnes
|
||
|
for(i=0;i<na;i++)
|
||
|
{
|
||
|
for(j=0;j<mb;j++)
|
||
|
{
|
||
|
R[i][j]=0;
|
||
|
for(k=0;k<ma;k++)
|
||
|
{
|
||
|
R[i][j]=R[i][j]+ A[i][k]*B[k][j];
|
||
|
|
||
|
}
|
||
|
|
||
|
}
|
||
|
}
|
||
|
|
||
|
}
|
||
|
|
||
|
|
||
|
|
||
|
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];
|
||
|
double X1[4][1];
|
||
|
double X2[4][1];
|
||
|
double X3[4][1];
|
||
|
double A1[4][4];
|
||
|
double A2[4][4];
|
||
|
double P1[4][4];
|
||
|
double P2[4][4];
|
||
|
double G1[2][4];
|
||
|
double G2[2][2];
|
||
|
double G3[2][2];
|
||
|
double G4[2][2];// inversion de G3
|
||
|
double G5[4][2];
|
||
|
double DELTA1[2][1];
|
||
|
double DELTA[2][1];
|
||
|
double M1[2][1];
|
||
|
double M2[4][1];
|
||
|
double obs[2][1]={{xobs}, {yobs}};
|
||
|
double M3[4][4];
|
||
|
double M4[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=1; ///Mettre à 1 pour afficher les matrices.
|
||
|
///Ajouter votre code ci-dessous///
|
||
|
// Kalman
|
||
|
Plot_Mat(X," X(k|k) = ");
|
||
|
|
||
|
//PREDICTION
|
||
|
// X = F*X
|
||
|
|
||
|
|
||
|
Mul_Mat_Mat(4,4,F,4,1,X,X1);// X1=F*X
|
||
|
Plot_Mat(X1," X(k+1|k) = ");
|
||
|
Plot_Mat(P," P(k|k) = ");
|
||
|
|
||
|
|
||
|
|
||
|
//P = F*P*F'+Q;
|
||
|
Mul_Mat_Mat(4,4,F,4,4,P,A1);// A1=F*P
|
||
|
Mul_Mat_Mat(4,4,A1,4,4,FT,A2);// A2=F*P*FT
|
||
|
Add_Mat_Mat(4,4,A2,4,4,Q,P1);// P1=F*P*FT+Q
|
||
|
Plot_Mat(P,"P(k+1|k) = F.P(k|k).FT + Q = ");
|
||
|
|
||
|
//GAIN
|
||
|
// K = P*H' / ( H*P*H' + R);
|
||
|
|
||
|
Mul_Mat_Mat(4,4,H,4,4,P1,G1);//G1=H*P1
|
||
|
Mul_Mat_Mat(4,4,G1,4,4,HT,G2);//G2=H*P1*HT
|
||
|
Add_Mat_Mat(4,4,G2,4,4,R,G3);//G2=H*P1*HT
|
||
|
Plot_Mat(G3," H.P(k+1|k).HT+R = ");
|
||
|
Inverse_Mat_22(2,2,G3,G4);//G3=(H*P1*HT+R)
|
||
|
Mul_Mat_Mat(4,4,P1,4,2,HT,G5);//G5=P1*TH
|
||
|
Mul_Mat_Mat(4,2,G5,2,2,G3,K);//K=G5*G3
|
||
|
Plot_Mat(G4," INV(H.P(k+1|k).HT+R) = ");
|
||
|
Plot_Mat(K,"K = ");
|
||
|
//MISE A JOUR
|
||
|
//X = X + K*([xobs(i);yobs(i)]-H*X);
|
||
|
//Plot_Mat(Delta,"DELTA = Obs - H.X(k+1|k)");
|
||
|
|
||
|
|
||
|
Mul_Mat_Mat(2,4,H,4,1,X1,M1);
|
||
|
Sub_Mat_Mat(2,1,obs,2,1,M1,DELTA1);
|
||
|
Mul_Mat_Mat(4,2,K,2,1,DELTA1,M2);
|
||
|
Add_Mat_Mat(4,1,X,4,1,M2,X3);
|
||
|
Sub_Mat_Mat(2,1,obs,2,1,M1,DELTA);
|
||
|
Plot_Mat(obs," obs = ");
|
||
|
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;
|
||
|
Mul_Mat_Mat(4,2,K,2,4,H,M3);
|
||
|
Mul_Mat_Mat(4,4,M3,4,4,P,M4);
|
||
|
Sub_Mat_Mat(4,4,P1,4,4,M4,P2);
|
||
|
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;
|
||
|
}
|
||
| tag/rc-1/faye_awasemou/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>
|
||
| tag/rc-1/faye_awasemou/sp4a3/sp4a3_kalman_extra.c | ||
|---|---|---|
|
#include <stdlib.h>
|
||
|
#include <stdio.h>
|
||
|
#include <math.h>
|
||
|
|
||
|
|
||
|
#define error(a) _error(__LINE__,a)
|
||
|
void _error(int l,char * r){
|
||
|
printf("Erreur Ligne (%d) : %s",l,r);
|
||
|
exit(1);
|
||
|
}
|
||
|
|
||
|
int debug=1;
|
||
|
void _Plot_Mat(int n,int m,double in[n][m], const char* name){
|
||
|
int i,j;
|
||
|
if (!debug) return;
|
||
|
printf("\n%s[%d][%d]\n",name,n,m);
|
||
|
for (i=0;i<n;i++)
|
||
|
{
|
||
|
for (j=0;j<m;j++)
|
||
|
printf("%f\t",in[i][j]);
|
||
|
printf("\n");
|
||
|
}
|
||
|
}
|
||
|
|
||
|
#define Equal_Mat_Mat(Mat_A,Mat_B) _Equal_Mat_Mat(sizeof(Mat_A)/sizeof(Mat_A[0]),sizeof(Mat_A[0])/sizeof(Mat_A[0][0]),Mat_A,sizeof(Mat_B)/sizeof(Mat_B[0]),sizeof(Mat_B[0])/sizeof(Mat_B[0][0]),Mat_B)
|
||
|
int _Equal_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double B[nb][mb]){
|
||
|
int i,j;
|
||
|
if (na!=nb) return 0;
|
||
|
if (ma!=mb) return 0;
|
||
|
for(i=0;i<na;i++)
|
||
|
for(j=0;j<ma;j++){
|
||
|
if (fabs(A[i][j]-B[i][j])>1e-6)
|
||
|
return 0;
|
||
|
}
|
||
|
return 1;
|
||
|
}
|
||
| tag/rc-1/faye_awasemou/sp4a3/vitesse_reelle.dat | ||
|---|---|---|
|
120000.100000 0.000000
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120041.600000 1.011840
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|
120041.700000 1.136124
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|
120041.800000 0.969284
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|
120041.900000 0.890199
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|
120042.000000 0.969284
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|
120042.100000 0.841515
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|
120042.200000 0.890199
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|
120042.300000 0.890199
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||
|
120042.400000 0.890199
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||
|
120042.500000 0.954193
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||
|
120042.600000 0.845408
|
||
|
120042.700000 1.030649
|
||
|
120042.800000 1.117011
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||
|
120042.900000 1.025643
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||
|
120043.000000 1.127450
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|
120043.100000 1.127450
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|
120043.200000 1.234531
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||
|
120043.300000 1.345627
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||
|
120043.400000 1.284732
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||
|
120043.500000 1.284733
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||
|
120043.600000 1.358796
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||
|
120043.700000 1.358796
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||
|
120043.800000 1.483381
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||
|
120043.900000 1.483381
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||
|
120044.000000 1.453078
|
||
|
120044.100000 1.563924
|
||
|
120044.200000 1.434588
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||
|
120044.300000 1.693339
|
||
|
120044.400000 1.563924
|
||
|
120044.500000 1.558224
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||
|
120044.600000 1.693339
|
||
|
120044.700000 1.693339
|
||
|
120044.800000 1.563924
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||
|
120044.900000 1.693339
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||
|
120045.000000 1.734870
|
||
|
120045.100000 1.709031
|
||
|
120045.200000 1.580901
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||
|
120045.300000 1.734870
|
||
|
120045.400000 1.861460
|
||
|
120045.500000 1.709031
|
||
|
120045.600000 1.734869
|
||
|
120045.700000 1.861460
|
||
|
120045.800000 1.709030
|
||
|
120045.900000 1.861459
|
||
|
120046.000000 1.861459
|
||
|
120046.100000 1.861459
|
||
|
120046.200000 1.837401
|
||
|
120046.300000 1.861459
|
||
|
120046.400000 1.861459
|
||
|
120046.500000 2.019552
|
||
|
120046.600000 1.861458
|
||
|
120046.700000 1.936435
|
||
|
120046.800000 1.936435
|
||
|
120046.900000 1.815081
|
||
|
120047.000000 1.929158
|
||
|
120047.100000 1.868231
|
||
|
120047.200000 1.929158
|
||
|
120047.300000 1.868231
|
||
|
120047.400000 1.929158
|
||
|
120047.500000 1.868230
|
||
|
120047.600000 1.929157
|
||
|
120047.700000 1.929157
|
||
|
120047.800000 1.868229
|
||
|
120047.900000 2.043747
|
||
|
120048.000000 1.929156
|
||
|
120048.100000 1.929156
|
||
|
120048.200000 1.986337
|
||
|
120048.300000 1.929156
|
||
|
120048.400000 2.043746
|
||
|
120048.500000 1.929155
|
||
|
120048.600000 2.043746
|
||
|
120048.700000 1.986336
|
||
|
120048.800000 2.043745
|
||
|
120048.900000 1.929154
|
||
|
120049.000000 2.043745
|
||
|
120049.100000 2.043744
|
||
|
120049.200000 2.043744
|
||
|
120049.300000 2.043744
|
||
|
120049.400000 2.043744
|
||
|
120049.500000 2.043743
|
||
|
120049.600000 2.043743
|
||
|
120049.700000 2.043743
|
||
|
120049.800000 2.043743
|
||
|
120049.900000 2.043742
|
||
|
120050.000000 2.043742
|
||
|
120050.100000 2.043742
|
||
|
120050.200000 2.043742
|
||
|
120050.300000 2.160059
|
||
|
120050.400000 2.108042
|
||
|
120050.500000 2.043741
|
||
|
120050.600000 2.043741
|
||
|
120050.700000 2.160058
|
||
|
120050.800000 2.108041
|
||
|
120050.900000 2.160057
|
||
|
120051.000000 2.043739
|
||
|
120051.100000 2.108040
|
||
|
120051.200000 2.160056
|
||
|
120051.300000 2.160056
|
||
|
120051.400000 2.108039
|
||
|
120051.500000 2.160055
|
||
|
120051.600000 2.108039
|
||
|
120051.700000 2.220991
|
||
|
120051.800000 2.108038
|
||
|
120051.900000 2.108038
|
||
|
120052.000000 2.071505
|
||
|
120052.100000 2.071505
|
||
|
120052.200000 2.178619
|
||
|
120052.300000 1.967131
|
||
|
120052.400000 2.151577
|
||
|
120052.500000 2.051282
|
||
|
120052.600000 1.954470
|
||
|
120052.700000 2.047853
|
||
Formats disponibles : Unified diff