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Révision 281

Ajouté par jileng il y a presque 4 ans

Leng commit kalman.c fonction matricielle, multiplication a revoir et fonction iterative à tester

Voir les différences:

branch/leng/sp4a3/sp4a3_kalman_extra.h
#define error(a) _error(__LINE__,a)
void _error(int l,char * r);
void _error(int l,char * r)
{
int i=0;
for(i=0;i<l;i++)
{
printf("%i",r[i]);
};
};
#define Plot_Mat(Mat,titre) _Plot_Mat(sizeof(Mat)/sizeof(Mat[0]),sizeof(Mat[0])/sizeof(Mat[0][0]),Mat,titre)
void _Plot_Mat(int n,int m,double in[n][m], const char* name);
void _Plot_Mat(int n,int m,double in[n][m], const char* name){
int i=0,j=0;
printf("%s \n",name);
for(i=0;i<n;i++){
for(j=0;j<m;j++){
printf("%d",in[i][j]);
};
};
};
#define Equal_Mat_Mat(Mat_A,Mat_B) _Equal_Mat_Mat(sizeof(Mat_A)/sizeof(Mat_A[0]),sizeof(Mat_A[0])/sizeof(Mat_A[0][0]),Mat_A,sizeof(Mat_B)/sizeof(Mat_B[0]),sizeof(Mat_B[0])/sizeof(Mat_B[0][0]),Mat_B)
int _Equal_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double B[nb][mb]);
int _Equal_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double B[nb][mb]){
int i,j;
int out;
for (i=0;i<na;i++){
for(j=0;j<ma;j++)
{
if(A[i][j]!=B[i][j])
{
out=1;
}
}
}
return out;
}
extern int debug;
extern int debug;
branch/leng/sp4a3/sp4a3_kalman.c
// Pour compiler : gcc sp4a3_kalman.c -lm
#include <stdlib.h>
#include <stdio.h>
#include <math.h>
#include "sp4a3_kalman_extra.h"
#include "sp4a3_kalman_extra.c"
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<mb;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]){
B[0][0]=-A[1][1]/(A[1][0]*A[0][1]+A[1][1]*A[0][0]);
B[0][1]=1/(A[1][0]-A[1][1]*A[0][0]/A[0][1]);
B[1][0]=1/(A[0][1]+A[1][1]*A[0][0]/A[1][0]);
B[1][1]=-A[0][0]/(A[0][1]*A[1][0]-A[1][1]*A[0][0]);
}
void Transpose_Mat(int n,int m,double A[n][m],double R[m][n]){
int i,j;
for (i=0;i<n;i++)
for (j=0;j<m;j++)
R[j][i]=A[i][j];
for (i=0;i<n;i++)
{
for (j=0;j<m;j++)
{
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<mb;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;
for (i=0;i<na;i++)
{
for(j=0;j<mb;j++)
{
out[i][j]=A[i][j]*B[i][j];
}
}
}
void tests_unitaires(void){
void tests_unitaires(void){
//matrices preparation
double test[2][2]={{0,0},{0,0}};
double A22[2][2]={{21,21},{3,0}};
double B22[2][2]={{18,13},{63,3}};
double C22a[2][2]={{39,34},{66,3}};
double C22b[2][2]={{3,8},{-60,-3}};
double C22c[2][2]={{1701,336},{54,39}};
double C22d[2][2]={{21,3},{21,0}};
//Matrices d'entrée
double T21a[2][1]={{7},{-5}};
double T21b[2][1]={{-3},{46}};
......
double RST44[4][4]={{-11,-11,-7,-11},{-15,-17,-16,-32},{-69,-37,-5,3},{-49,-6,-9,-45}};
double RMT44T44[4][4]={{816,412,192,304},{1155,583,379,687},{1146,668,466,758},{486,308,222,338}};
printf("Execution des tests unitaires.\n");
Transpose_Mat(2,4,T24,R42); if (!Equal_Mat_Mat(RTT24,R42)) error("Erreur calcul Transposition 2x4");
Transpose_Mat(4,4,T44a,R44); if (!Equal_Mat_Mat(RTT44,R44)) error("Erreur calcul Transposition 4x4");
Inverse_Mat_22(2,2,T22a,R22); if (!Equal_Mat_Mat(RInvT22,R22)) error("Erreur calcul Inversion 2x2");
Add_Mat_Mat(2,2,T22a,2,2,T22b,R22); if (!Equal_Mat_Mat(RAT22,R22)) error("Erreur calcul Addition 2x2");
Add_Mat_Mat(4,4,T44a,4,4,T44b,R44); if (!Equal_Mat_Mat(RAT44,R44)) error("Erreur calcul Addition 4x4");
Add_Mat_Mat(4,1,T41a,4,1,T41b,R41); if (!Equal_Mat_Mat(RAT41,R41)) error("Erreur calcul Addition 4x1");
Sub_Mat_Mat(2,1,T21a,2,1,T21b,R21); if (!Equal_Mat_Mat(RST21,R21)) error("Erreur calcul Soustraction 2x1");
Sub_Mat_Mat(4,4,T44a,4,4,T44b,R44); if (!Equal_Mat_Mat(RST44,R44)) error("Erreur calcul Soustraction 4x4");
Mul_Mat_Mat(4,4,T44a,4,4,T44b,R44); if (!Equal_Mat_Mat(RMT44T44,R44)) error("Erreur calcul Multiplication 4x4 4x4");
Mul_Mat_Mat(4,4,T44a,4,1,T41a,R41); if (!Equal_Mat_Mat(RMT44T41,R41)) error("Erreur calcul Multiplication 4x4 4x1");
Mul_Mat_Mat(4,4,T44a,4,2,T42a,R42); if (!Equal_Mat_Mat(RMT44T42,R42)) error("Erreur calcul Multiplication 4x4 4x2");
Mul_Mat_Mat(4,2,T42a,2,1,T21a,R41); if (!Equal_Mat_Mat(RMT42T21,R41)) error("Erreur calcul Multiplication 4x2 2x1");
Mul_Mat_Mat(4,2,T42a,2,2,T22a,R42); if (!Equal_Mat_Mat(RMT42T22,R42)) error("Erreur calcul Multiplication 4x2 2x2");
Mul_Mat_Mat(4,2,T42a,2,4,T24,R44); if (!Equal_Mat_Mat(RMT42T24,R44)) error("Erreur calcul Multiplication 4x2 2x4");
Mul_Mat_Mat(2,4,T24,4,1,T41a,R21); if (!Equal_Mat_Mat(RMT24T41,R21)) error("Erreur calcul Multiplication 2x4 4x1");
Mul_Mat_Mat(2,4,T24,4,2,T42a,R22); if (!Equal_Mat_Mat(RMT24T42,R22)) error("Erreur calcul Multiplication 2x4 4x2");
Mul_Mat_Mat(2,4,T24,4,4,T44a,R24); if (!Equal_Mat_Mat(RMT24T44,R24)) error("Erreur calcul Multiplication 2x4 4x4");
printf("Test unitaires OK.\n");
printf("Execution des tests unitaires.\n");
Equal_Mat_Mat(R42,R42); if (!_Equal_Mat_Mat(4,2,R42,4,2,R42)) error("Erreur calcul Egalite 2x4");
Equal_Mat_Mat(T24,R42); if (!_Equal_Mat_Mat(2,4,T24,4,2,R42)) error("Erreur calcul Egalite 2x4");
Transpose_Mat(2,4,T24,R42); if (!_Equal_Mat_Mat(2,4,RTT24,4,2,R42)) error("Erreur calcul Transposition 2x4");
Transpose_Mat(4,4,T44a,R44); if (!_Equal_Mat_Mat(4,4,RTT44,4,4,R44)) error("Erreur calcul Transposition 4x4");
Inverse_Mat_22(2,2,T22a,R22); if (!_Equal_Mat_Mat(2,2,RInvT22,2,2,R22)) error("Erreur calcul Inversion 2x2");
Add_Mat_Mat(2,2,T22a,2,2,T22b,R22); if (!_Equal_Mat_Mat(2,2,RAT22,2,2,R22)) error("Erreur calcul Addition 2x2");
Add_Mat_Mat(4,4,T44a,4,4,T44b,R44); if (!_Equal_Mat_Mat(4,4,RAT44,4,4,R44)) error("Erreur calcul Addition 4x4");
Add_Mat_Mat(4,1,T41a,4,1,T41b,R41); if (!_Equal_Mat_Mat(4,1,RAT41,4,1,R41)) error("Erreur calcul Addition 4x1");
Sub_Mat_Mat(2,1,T21a,2,1,T21b,R21); if (!_Equal_Mat_Mat(2,1,RST21,2,1,R21)) error("Erreur calcul Soustraction 2x1");
Sub_Mat_Mat(4,4,T44a,4,4,T44b,R44); if (!_Equal_Mat_Mat(4,4,RST44,4,4,R44)) error("Erreur calcul Soustraction 4x4");
Mul_Mat_Mat(4,4,T44a,4,4,T44b,R44); if (!_Equal_Mat_Mat(4,4,RMT44T44,4,4,R44)) error("Erreur calcul Multiplication 4x4 4x4");
Mul_Mat_Mat(4,4,T44a,4,1,T41a,R41); if (!_Equal_Mat_Mat(4,1,RMT44T41,4,1,R41)) error("Erreur calcul Multiplication 4x4 4x1");
Mul_Mat_Mat(4,4,T44a,4,2,T42a,R42); if (!_Equal_Mat_Mat(4,4,RMT44T42,4,2,R42)) error("Erreur calcul Multiplication 4x4 4x2");
Mul_Mat_Mat(4,2,T42a,2,1,T21a,R41); if (!_Equal_Mat_Mat(4,2,RMT42T21,4,1,R41)) error("Erreur calcul Multiplication 4x2 2x1");
Mul_Mat_Mat(4,2,T42a,2,2,T22a,R42); if (!_Equal_Mat_Mat(4,2,RMT42T22,4,2,R42)) error("Erreur calcul Multiplication 4x2 2x2");
Mul_Mat_Mat(4,2,T42a,2,4,T24,R44); if (!_Equal_Mat_Mat(4,2,RMT42T24,4,4,R44)) error("Erreur calcul Multiplication 4x2 2x4");
Mul_Mat_Mat(2,4,T24,4,1,T41a,R21); if (!_Equal_Mat_Mat(4,1,RMT24T41,2,1,R21)) error("Erreur calcul Multiplication 2x4 4x1");
Mul_Mat_Mat(2,4,T24,4,2,T42a,R22); if (!_Equal_Mat_Mat(4,2,RMT24T42,2,2,R22)) error("Erreur calcul Multiplication 2x4 4x2");
Mul_Mat_Mat(2,4,T24,4,4,T44a,R24); if (!_Equal_Mat_Mat(4,4,RMT24T44,2,4,R24)) error("Erreur calcul Multiplication 2x4 4x4");
printf("Test unitaires OK.\n");
printf("Execution des tests unitaires des calculs matriciels.\n");
Add_Mat_Mat(2,2,A22,2,2,B22,test);
Plot_Mat(test,"A+B=");
printf("Tests unitaires des calculs matriciels OK.\n");
}
int main(int argc,char **argv){
......
double oldx,oldy;
double dx=0,dy=0,dt=0.1;
int cpt = 0;
int debug=0;
// kalman param
double sigma_etat = 10.0;
double sigma_observation = 2.0;
......
double R[2][2] = {{sigma_observation*sigma_observation, 0},
{0 , sigma_observation*sigma_observation}};
double K[4][2];
double K[4][2];
double Ktemp[4][2];
double Res[4][4]= {{0, 0, 0, 0},
{0, 0, 0, 0},
{0, 0, 0, 0},
{0, 0, 0, 0}};
double H[2][4] = {{1, 0, 0, 0},
{0, 1, 0, 0}};
double HT[4][2];
......
debug=0; ///Mettre à 1 pour afficher les matrices.
///Ajouter votre code ci-dessous///
// Kalman
// Kalman
///prediction
X=Mul_Mat_Mat(4,1,X,4,4,F,Res);
// X = F*X
Plot_Mat(X," X(k+1|k) = ");
P=Mul_Mat_Mat(4,4,F,4,4,P,Res);
P=Mul_Mat_Mat(4,4,P,4,4,FT,Res);
P=Add_Mat_Mat(4,4,P,4,4,Q,Res);
//P = F*P*F'+Q;
Plot_Mat(P,"P(k+1|k) = F.P(k|k).FT + Q = ");
///gain
K=Mul_Mat_Mat(4,4,P,2,4,HT,Res);
Ktemp=Mul_Mat_Mat(2,4,H,4,4,P,Res);
Ktemp=Mul_Mat_Mat(4,2,Ktemp,2,4,HT,Res);
Ktemp=Inverse_Mat_22(2,2,Add_Mat_Mat(4,2,Ktemp,2,2,R),Res);
// K = P*H' / ( H*P*H' + R);
Plot_Mat(K,"K = ");
///mise a jour recursive
X=Add_Mat_Mat(4,1,X,4,1,Mul_Mat_Mat(4,2,K,2,1,delta,Res));
//X = X + K*([xb(i);yb(i)]-H*X);
//Plot_Mat(Delta,"DELTA = Obs - H.X(k+1|k)");
Plot_Mat(X," X(k+1|k+1) = X(k+1|k) + K.Delta = ");
P=Sub_Mat_Mat(4,4,P,4,4,Mul_Mat_Mat(4,4,Mul_Mat_Mat(4,2,K,2,4,H,Res),4,4,P,Res));
// P = P - K*H*P;
Plot_Mat(P," P(k+1|k+1) = P(k+1|k) - K.H.P(k+1|k) = ");
delta=Sub_Mat_Mat(2,1,Mul_Mat_Mat(4,1,X,2,4,H,Res),2,1,Mul_Mat_Mat(2,4,H,4,1,X,Res)));
// X = F*X
Plot_Mat(X," X(k+1|k) = ");
//P = F*P*F'+Q;
Plot_Mat(P,"P(k+1|k) = F.P(k|k).FT + Q = ");
// K = P*H' / ( H*P*H' + R);
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(X," X(k+1|k+1) = X(k+1|k) + K.Delta = ");
// P = P - K*H*P;
Plot_Mat(P," P(k+1|k+1) = P(k+1|k) - K.H.P(k+1|k) = ");
/// La matrice X doit contenir la position filtrée ///
}
t = cpt * dt;

Formats disponibles : Unified diff