Révision 275
Ajouté par gasacco il y a presque 4 ans
| branch/sacco/sp4a3/sp4a3_kalman.c | ||
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#include "sp4a3_kalman_extra.h"
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void Add_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double b[nb][mb], double out[na][ma]){
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void Add_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double B[nb][mb], double out[na][ma]){
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if (na ==nb && ma ==mb)
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{
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int i,j;
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for (i=0;i<=na-1;i++)
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{
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for (j=0;j<=ma-1;j++)
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{
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out[i][j] = A[i][j] + B[i][j];
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}
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}
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}
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}
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void Inverse_Mat_22(int n,int m,double A[n][m],double B[n][m]){
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void Inverse_Mat_22(int n,int m,double A[n][m],double B[n][m]){
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if (n==2 && m ==2)
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{
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double det = A[0][0]*A[1][1]- A[0][1]*A[1][0];
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if (det !=0)
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{
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B[0][0] = (double) A[1][1]/det;
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B[1][1] = (double) A[0][0]/det;
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B[0][1] = (double) -A[0][1]/det;
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B[1][0] = (double) -A[1][0]/det;
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}
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}
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}
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void Transpose_Mat(int n,int m,double A[n][m],double R[m][n]){
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int i,j;
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for (i=0;i<n;i++)
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for (j=0;j<m;j++)
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R[j][i]=A[i][j];
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for (i=0;i<n;i++)
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{
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for (j=0;j<m;j++)
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{
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R[j][i]=A[i][j];
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}
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}
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}
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void Sub_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double b[nb][mb], double out[na][ma]){
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void Sub_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double B[nb][mb], double out[na][ma]){
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if (na ==nb && ma ==mb)
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{
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int i,j;
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for (i=0;i<=na-1;i++)
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{
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for (j=0;j<=ma-1;j++)
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{
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out[i][j] = A[i][j] - B[i][j];
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}
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}
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}
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}
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void Mul_Mat_Mat(int na,int ma,double A[na][ma], int nb,int mb,double B[nb][mb], double out[na][mb]){
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void Mul_Mat_Mat(int na,int ma,double A[na][ma], int nb,int mb,double B[nb][mb], double out[na][mb]){
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if (ma == nb)
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{
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for (int i=0;i<na;i++)
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{
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for (int j=0;j<mb;j++)
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{
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out[i][j] = 0;
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for (int k=0; k<ma;k++)
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{
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out[i][j] += A[i][k]*B[k][j];
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}
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}
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}
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}
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}
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| ... | ... | |
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double RMT44T42[4][2]={{-308,-268},{-611,-99},{-816,118},{-432,122}};
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double RAT44[4][4]={{13,15,21,19},{27,27,30,48},{87,53,19,9},{59,14,15,49}};
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double RST44[4][4]={{-11,-11,-7,-11},{-15,-17,-16,-32},{-69,-37,-5,3},{-49,-6,-9,-45}};
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double RMT44T44[4][4]={{816,412,192,304},{1155,583,379,687},{1146,668,466,758},{486,308,222,338}};
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double RMT44T44[4][4]={{816,412,192,304},{1155,583,379,687},{1146,668,466,758},{486,308,222,338}};
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double Y1[2][2] = {{5,2},{3,8}};
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printf("Execution des tests unitaires.\n");
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Transpose_Mat(2,4,T24,R42); if (!Equal_Mat_Mat(RTT24,R42)) error("Erreur calcul Transposition 2x4");
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Transpose_Mat(4,4,T44a,R44); if (!Equal_Mat_Mat(RTT44,R44)) error("Erreur calcul Transposition 4x4");
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Inverse_Mat_22(2,2,T22a,R22); if (!Equal_Mat_Mat(RInvT22,R22)) error("Erreur calcul Inversion 2x2");
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Inverse_Mat_22(2,2,T22a,R22); if (!Equal_Mat_Mat(RInvT22,R22)) error("Erreur calcul Inversion 2x2");
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//Add_Mat_Mat(2,2,T22b, 4,2, R22, R42); if (Equal_Mat_Mat(RAT22, R42) error("Erreur calcul Y1");
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Add_Mat_Mat(2,2,T22a,2,2,T22b,R22); if (!Equal_Mat_Mat(RAT22,R22)) error("Erreur calcul Addition 2x2");
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Add_Mat_Mat(4,4,T44a,4,4,T44b,R44); if (!Equal_Mat_Mat(RAT44,R44)) error("Erreur calcul Addition 4x4");
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Add_Mat_Mat(4,1,T41a,4,1,T41b,R41); if (!Equal_Mat_Mat(RAT41,R41)) error("Erreur calcul Addition 4x1");
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| ... | ... | |
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Mul_Mat_Mat(2,4,T24,4,1,T41a,R21); if (!Equal_Mat_Mat(RMT24T41,R21)) error("Erreur calcul Multiplication 2x4 4x1");
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Mul_Mat_Mat(2,4,T24,4,2,T42a,R22); if (!Equal_Mat_Mat(RMT24T42,R22)) error("Erreur calcul Multiplication 2x4 4x2");
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Mul_Mat_Mat(2,4,T24,4,4,T44a,R24); if (!Equal_Mat_Mat(RMT24T44,R24)) error("Erreur calcul Multiplication 2x4 4x4");
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printf("Test unitaires OK.\n");
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printf("Test unitaires OK.\n");
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}
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int main(int argc,char **argv){
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| ... | ... | |
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{0, 0, 0, 1}};
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double FT[4][4];
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Transpose_Mat(4,4,F,FT);
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double tampon_1[4][4];
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double tampon_2[2][4];
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while(fscanf(fichier, "%lf %lf %lf", &t, &x, &y)>0){
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printf("-------------%04d--------------\n",cpt);
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| ... | ... | |
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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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Mul_Mat_Mat(4,4,F, 4,1, X, 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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Mul_Mat_Mat(4,4,F,4,4,P,tampon_1);
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Mul_Mat_Mat(4,4,tampon_1,4,4, FT, tampon_1);
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Add_Mat_Mat(4,4,tampon_1,4,4,Q, 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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Mul_Mat_Mat(4,4,P,4,2, HT, K);
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Mul_Mat_Mat(2,4,H,4,4,P, tampon_2);
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Mul_Mat_Mat(2,4,tampon_2, 4,2,HT, tampon_2);
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Add_Mat_Mat(2,2,tampon_2,2,2,R, tampon_2);
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Inverse_Mat_22(2,2,tampon_2, tampon_2);
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Mul_Mat_Mat(4,2,K, 2,2, tampon_2, 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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