Révision 537
Ajouté par Mourougen MARIMOUTOU-POUGARY il y a presque 3 ans
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// Pour compiler : gcc sp4a3_kalman.c -lm
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/**=====================================================================================================**/
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/**MARIMOUTOU Mourougen**/
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/**Programme finale**/
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/**=====================================================================================================**/
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#include <stdlib.h>
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#include <stdio.h>
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#include <math.h>
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| ... | ... | |
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double FT[4][4];
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Transpose_Mat(4,4,F,FT);
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/**Declaration des matrice tampon**/
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/**============== Declaration des matrice tampon ==============**/
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double X1[4][1]= {{0},{0},{0},{0}};
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double X2[4][1]= {{0},{0},{0},{0}};
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double P1[4][4] = {{sigma_etat*sigma_etat, 0, 0, 0},
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| ... | ... | |
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{0, 0, 0, 0},
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{0, 0, 0, 0}};
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double temp1[4][4],temp2[4][4],temp3[4][4],temp4[4][4],temp5[4][4],temp6[4][4],temp7[4][4],temp8[4][4],temp9[4][4],temp10[4][4],temp11[4][4];
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double temp1[4][4],temp2[4][4],temp3[4][4],temp4[4][4],temp5[4][4],temp6[4][4];
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double temp7[4][4],temp8[4][4],temp9[4][4],temp10[4][4],temp11[4][4];
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/**============================================================**/
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while(fscanf(fichier, "%lf %lf %lf", &t, &xobs, &yobs)>0){
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printf("-------------%04d--------------\n",cpt);
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| ... | ... | |
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Mul_Mat_Mat(4,4,P1,4,2,HT,temp3);
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Mul_Mat_Mat(4,2,temp3,2,2,temp7,K);
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Plot_Mat(K,"K = ");
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//X = X + K*([xobs(i);yobs(i)]-H*X);
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double Xobs[2][1]={{xobs},{yobs}};
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double Delta[4][4];
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//Plot_Mat(Delta,"DELTA = Obs - H.X(k+1|k)");
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double obs[2][1]={{xobs},{yobs}};//Vecteur observation
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double Delta[4][4];
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//DELTA = Obs - H.X(k+1|k)
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Mul_Mat_Mat(2,4,H,4,1,X1,temp8);
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Sub_Mat_Mat(2,1,Xobs,2,1,temp8,Delta);
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Sub_Mat_Mat(2,1,obs,2,1,temp8,Delta);
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Plot_Mat(Delta,"DELTA = Obs - H.X(k+1|k)");
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//X = X + K*([xobs(i);yobs(i)]-H*X);
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Mul_Mat_Mat(4,2,K,2,1,Delta,temp9);
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Add_Mat_Mat(4,2,X1,2,2,temp9,X2);
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Plot_Mat(X," X(k+1|k+1) = X(k+1|k) + K.Delta = ");
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| ... | ... | |
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Sub_Mat_Mat(4,4,P1,4,4,temp11,P2);
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Plot_Mat(P," P(k+1|k+1) = P(k+1|k) - K.H.P(k+1|k) = ");
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//Iteration X(k|k)->X(k+1|k) et X(k+1|k)->X(k+1|k+1)
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int i,j;
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for(i=0;i<4;i++)
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{
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for(j=0;j<1;j++)
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{
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X[i][j]=X2[i][j];
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}
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//Iteration X(k|k)->X(k+1|k) et X(k+1|k)->X(k+1|k+1)
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int i,j;
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for(i=0;i<4;i++)
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{
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for(j=0;j<1;j++)
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{
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X[i][j]=X2[i][j];
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}
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}
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}
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//Iteration P(k|k)->P(k+1|k) et P(k+1|k)->P(k+1|k+1)
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for(i=0;i<4;i++)
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{
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for(j=0;j<4;j++)
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{
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P[i][j]=P2[i][j];
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}
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//Iteration P(k|k)->P(k+1|k) et P(k+1|k)->P(k+1|k+1)
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for(i=0;i<4;i++)
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{
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for(j=0;j<4;j++)
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{
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P[i][j]=P2[i][j];
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}
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}
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}
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/// La matrice X doit contenir la position filtrée ///
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}
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t = cpt * dt;
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Formats disponibles : Unified diff
Indentation et commentaire programme finale