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Révision 259

Ajouté par albeaufour il y a presque 4 ans

80% du filtre realisé
Finir le calcul des dernière matrice

Voir les différences:

branch/beaufour/sp4a12/main.c
return nb;
}
int decode_longitude (char ch[], int x
float conv_sexa_decimal(char chaine[]){
int i=0, degre=0, minutes=0, u=1, w=-1, n=0;
float min_sec=0, secondes=0, res=0, min=0;
do{
n++;
}while(chaine[n]!='.');
if(n==4){
degre=(chaine[0]-48)*10+(chaine[1]-48);
i=2;
}
else{
degre=(chaine[0]-48)*100+(chaine[1]-48)*10+(chaine[2]-48);
i=3;
}
do{
min=min+(chaine[i]-48)*pow(10, u);
u--;
i++;
}while(chaine[i]!='.');
i++;
do{
secondes=secondes+(chaine[i]-48)*pow(10, u);
u--;
i++;
}while(chaine[i]!='\0');
res=degre+(min+secondes)/60;
return res;
}
//Ajouter vos tests unitaires dans cette fonction.
void tests_unitaires(void){
if (5!=5){
branch/beaufour/sp4a3/sp4a3_kalman.c
#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 out[na][ma]){
void Add_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double B[nb][mb], double out[na][ma]){
int i,j;
for (i=0;i<na;i++)
for (j=0;j<ma;j++)
out[i][j]=A[i][j] + B[i][j];
}
void Inverse_Mat_22(int n,int m,double A[n][m],double B[n][m]){
int i,j;
double det;
det = A[0][0]*A[1][1]-A[1][0]*A[0][1];
B[0][0] = (A[1][1])/det;
B[0][1] = - (A[0][1])/det;
B[1][0] = - (A[1][0])/det;
B[1][1] = (A[0][0])/det;
}
void Transpose_Mat(int n,int m,double A[n][m],double R[m][n]){
int i,j;
for (i=0;i<n;i++)
......
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 out[na][ma]){
void Sub_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double B[nb][mb], double out[na][ma]){
int i,j;
for (i=0;i<na;i++)
for (j=0;j<ma;j++)
out[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 out[na][mb]){
int i,j,k,sum;
for (i=0;i<na;i++)
for (j=0;j<mb;j++){
sum=0;
for(k = 0; k < ma; k++)
{
sum += A[i][k] * B[k][j];
}
out[i][j]=sum;
}
}
......
Plot_Mat(R,"R = ");
}
else
{
{
getchar();
t -= t0;x -= x0;y -= y0;
debug=0; ///Mettre à 1 pour afficher les matrices.
debug=1; ///Mettre à 1 pour afficher les matrices.
///Ajouter votre code ci-dessous///
// Kalman
// X = F*X
// X = F*X
Mul_Mat_Mat(4,4,F, 4,1,X, X);
Plot_Mat(X," X(k+1|k) = ");
//P = F*P*F'+Q;
//P = F*P*F'+Q;
double intern[4][4]
Mul_Mat_Mat(4,4,F, 4,4,P, intern);
Mul_Mat_Mat(4,4,intern, 4,4,FT, intern);
Add_Mat_Mat(4,4,intern,4,4,Q, P);
Plot_Mat(P,"P(k+1|k) = F.P(k|k).FT + Q = ");
// K = P*H' / ( H*P*H' + R);
Plot_Mat(K,"K = ");
// K = P*H' / ( H*P*H' + R);
{
double Denom1[2][4];
double Denom[2][2];
double num[4][2];
Mul_Mat_Mat(2,4,H, 4,4,P, Denom1);
Mul_Mat_Mat(2,4,Denom1, 4,2,HT, Denom);
Add_Mat_Mat(2,2,Denom,2,2,R, Denom);
Mul_Mat_Mat(4,4,P, 4,2,HT, num);
Inverse_Mat_22(2,2,Denom,Denom);
Mul_Mat_Mat(4,2,num, 2,2,Denom, K);
Plot_Mat(K,"K = ");
}
//X = X + K*([xb(i);yb(i)]-H*X);
//Plot_Mat(Delta,"DELTA = Obs - H.X(k+1|k)");
Plot_Mat(Delta,"DELTA = Obs - H.X(k+1|k)");
double obs[2][1] = {{x},{y}};
double Delta[2][1];
Mul_Mat_Mat(2,4,H, 4,1,X, Delta);
Sub_Mat_Mat(2,1,obs,2,1,Delta, Delta);
Plot_Mat(X," X(k+1|k+1) = X(k+1|k) + K.Delta = ");
// P = P - K*H*P;

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