Révision 252
Ajouté par clbouillot2 il y a presque 4 ans
| branch/bouillot/sp4a3/sp4a3_kalman.c | ||
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// Kalman
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// X = F*X
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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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Mul_Mat_Mat(4,4,F,4,1,X,Res1);
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X=Copy_mat(Res1);
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Plot_Mat(X," X(k+1|k) = ");
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//P = F*P*F'+Q;
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| ... | ... | |
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//X = X + K*([xb(i);yb(i)]-H*X);
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//Plot_Mat(Delta,"DELTA = Obs - H.X(k+1|k)");
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double Res14 [2][1], Res15[4][1], Res16[?][?], Res17[?][?],HX[2][1],Vect[2][1], KVect[4][1],KVectHX[2][1];
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double Res14 [2][1], Res15[4][1], Res16[2][1], Res17[?][?],HX[2][1],Vect[2][1], KVectHX[4][1],VectHX[2][1];
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Vect[0][0]=x;
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Vect[1][0]=y;
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HX=Mul_Mat_Mat(2,4,H,4,1,X,Res14);
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Vect=[x[i],y[i]];
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KVect=Mul_Mat_Mat(4,2,K,2,1,Vect,Res15);
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KVectHX=Sub_Mat_Mat(4,1,KVect,2,1,HX,Res16);
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X=Add_Mat_Mat(4,1,X,2,1,KVectHX,Res17);
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VectHX=Sub_Mat_Mat(2,1,Vect,2,1,HX,Res16);
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KVectHX=Mul_Mat_Mat(4,2,K,2,1,VectHX,Res15);
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X=Add_Mat_Mat(4,1,X,4,1,KVectHX,Res17);
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Plot_Mat(X," X(k+1|k+1) = X(k+1|k) + K.Delta = ");
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Formats disponibles : Unified diff
Manque l'ajout de la fonction Copy_mat