Révision 251
Ajouté par thcoulaud il y a presque 4 ans
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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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///Ajouter votre code ci-dessous///
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// Kalman
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///Ajouter votre code ci-dessous///
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// Kalman
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double Res1[4][1];
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X=Mul_Mat_Mat(4,4,F,4,1,X,Res1);
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// X = F*X
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Plot_Mat(X," X(k+1|k) = ");
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Plot_Mat(X," X(k+1|k) = ");
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double Res2[4][4];
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double Res3[4][4];
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Res2=Mul_Mat_Mat(4,4,F,4,4,P,Res2);
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Res3=Mul_Mat_Mat(4,4,Res2,4,4,Transpose_Mat(4,4,F,F),Res3);
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P=Add_Mat_Mat(4,4,Res3,4,4,Q,P)
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//P = F*P*F'+Q;
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Plot_Mat(P,"P(k+1|k) = F.P(k|k).FT + Q = ");
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double res1[][];
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double resvbruu[][];
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res1=Mul_Mat_Mat(4,4,P,4,4,Transpose_Mat(4,4,H,H),res1);
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// K = P*H' / ( H*P*H' + R);
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Plot_Mat(K,"K = ");
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Formats disponibles : Unified diff
Finalisation du filtre