Révision 250
Ajouté par magraffin il y a presque 4 ans
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}
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void copie_mat(int na,int ma,double A[na][ma],double B[na][ma]){
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int i,j;
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for (i=0;i<na;i++){
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for (j=0;j<ma;j++){
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B[i][j]=A[i][j];
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}
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}
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}
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void tests_unitaires(void){
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//Matrices d'entrée
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double T21a[2][1]={{7},{-5}};
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{
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t -= t0;x -= x0;y -= y0;
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debug=0; ///Mettre à 1 pour afficher les matrices.
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debug=1; ///Mettre à 1 pour afficher les matrices.
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///Ajouter votre code ci-dessous///
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// Kalman
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// X = F*X
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// X = F*X
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double Res1[4][1];
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Mul_Mat_Mat(4,4,F,4,1,X,Res1);
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copie_mat(4,1,Res1,X);
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Plot_Mat(X," X(k+1|k) = ");
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//P = F*P*F'+Q;
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//P = F*P*F'+Q;
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double Res2[4][4],Res3[4][4],Res4[4][4],Res5[4][4];
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Transpose_Mat(4,4,F,Res2); //F'
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Mul_Mat_Mat(4,4,F,4,4,P,Res3); //F*P
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Mul_Mat_Mat(4,4,Res3,4,4,Res2,Res4); //F*P*F'
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Add_Mat_Mat(4,4,Res4,4,4,Q,Res5); //F*P*F'+Q
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copie_mat(4,4,Res5,P);
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Plot_Mat(P,"P(k+1|k) = F.P(k|k).FT + Q = ");
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// K = P*H' / ( H*P*H' + R);
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// K = P*H' / ( H*P*H' + R);
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double Res6[4][2],Res7[2][2],Res8[2][2],Res9[4][2];
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Transpose_Mat(2,4,H,Res6); // H'
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Mul_Mat_Mat(4,4,P,4,2,Res2,Res9); //P*H'
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Mul_Mat_Mat(2,4,H,4,2,Res9,Res7); //H*P*H'
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Add_Mat_Mat(2,2,Res7,2,2,R,Res8); //H*P*H'+R
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Inverse_Mat_22(2,2,Res8,Res7); //H*P*H'+R ** (-1)
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Mul_Mat_Mat(4,2,Res9,2,2,Res7,Res6);
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copie_mat(4,2,Res6,K);
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Plot_Mat(K,"K = ");
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//X = X + K*([xb(i);yb(i)]-H*X);
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//X = X + K*([xb(i);yb(i)]-H*X);
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double Res10[2][1],Vect[2][1],Res11[2][1],Res12[4][1],Res13[4][1];
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Mul_Mat_Mat(2,4,H,4,1,X,Res10);//H*X
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Vect[0][0]=x;
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Vect[1][0]=y;
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Sub_Mat_Mat(2,1,Vect,2,1,Res10,Res11); //[xb(i);yb(i)]-H*X
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Mul_Mat_Mat(4,2,K,2,1,Res11,Res12); //K*([xb(i);yb(i)]-H*X)
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Add_Mat_Mat(4,1,X,4,1,Res12,Res13);// X + K*([xb(i);yb(i)]-H*X);
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copie_mat(4,1,Res13,X);
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//Plot_Mat(Delta,"DELTA = Obs - H.X(k+1|k)");
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Plot_Mat(X," X(k+1|k+1) = X(k+1|k) + K.Delta = ");
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// P = P - K*H*P;
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// P = P - K*H*P;
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Mul_Mat_Mat(4,2,K,2,4,H,Res2); //K*H
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Mul_Mat_Mat(4,4,Res2,4,4,P,Res3); //K*H*P
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Sub_Mat_Mat(4,4,P,4,4,Res4,Res2);
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copie_mat(4,4,Res2,P);
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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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/// La matrice X doit contenir la position filtrée ///
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| ... | ... | |
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system ("gnuplot -p -e \"plot 'output.dat' u 5:6 w l, '' u 2:3 w l\";");
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system ("gnuplot -p -e \"plot 'output.dat' u 1:9 w l, '' u 1:4 w l\";");
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system ("gnuplot -p -e \"plot 'vitesse_reelle.dat' u 2 w l, 'output.dat' u 9 w l\";");
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return 0;
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}
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return 0;
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}
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Formats disponibles : Unified diff
Fin de l'implémentation du filtre il reste une erreur sur K