Révision 288
Ajouté par nipelloux il y a presque 4 ans
| sp4a3_kalman.c | ||
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{0, 0, 1, 0},
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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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Transpose_Mat(4,4,F,FT);
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double Xf [4][1];
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double PP [4][4];
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double PPPP [4][4];
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double Pf [4][4];
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double PHT[4][2];
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double sa [2][4];
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double st [2][2];
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double st2 [2][2];
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double stt [2][2];
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double sd [2][1];
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double se [2][1];
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double sf [4][1];
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double X2 [4][1];
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double KHP [4][4];
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double KHP2 [4][4];
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double P2 [4][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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}
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else
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{
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t -= t0;x -= x0;y -= y0;
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t -= t0;x -= x0;y -= y0;
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double ps [2][1]={x,y};
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debug=1; ///Mettre à 1 pour afficher les matrices.
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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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// X = F*X
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double Xf [4][1];
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Mul_Mat_Mat(4,4,F,4,1,X,Xf);
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Plot_Mat(Xf," X(k+1|k) = ");
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//P = F*P*F'+Q;
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double PP [4][4];
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double PPPP [4][4];
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double Pf [4][4];
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Mul_Mat_Mat(4,4,F,4,4,P,PP);
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Mul_Mat_Mat(4,4,PP,4,4,FT,PPPP);
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Add_Mat_Mat(4,4,PPPP,4,4,Q,Pf);
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Plot_Mat(Pf,"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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double PHT[4][2];
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double sa [2][4];
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double st [2][2];
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double st2 [2][2];
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double stt [2][2];
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Mul_Mat_Mat(4,4,P,4,2,HT,PHT);
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Mul_Mat_Mat(2,4,H,4,4,P,sa);
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Mul_Mat_Mat(4,4,Pf,4,2,HT,PHT);
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Mul_Mat_Mat(2,4,H,4,4,Pf,sa);
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Mul_Mat_Mat(2,4,sa,4,2,HT,st);
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Add_Mat_Mat(2,2,st,2,2,R,st2);
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Transpose_Mat(2,2,st2,stt);
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Inverse_Mat_22(2,2,st2,stt);
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Mul_Mat_Mat(4,2,PHT,2,2,stt,K);
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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 sd [2][1];
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double se [2][1];
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double sf [2][1];
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double ps [2][1]={x,y};
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double X2 [4][1];
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Mul_Mat_Mat(2,4,H,4,1,X,sd);
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Mul_Mat_Mat(2,4,H,4,1,Xf,sd);
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Sub_Mat_Mat(2,1,ps,2,1,sd,se);
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Mul_Mat_Mat(2,1,se,4,2,K,sf);
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Add_Mat_Mat(2,1,sf,4,1,X,X);
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Mul_Mat_Mat(4,2,K,2,1,se,sf);
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Add_Mat_Mat(4,1,Xf,4,1,sf,X2);
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Plot_Mat(X," X(k+1|k+1) = X(k+1|k) + K.Delta = ");
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Plot_Mat(X2," X(k+1|k+1) = X(k+1|k) + K.Delta = ");
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// P = P - K*H*P;
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double KHP [2][2];
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double KHP2 [2][2];
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double P2 [4][4];
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Mul_Mat_Mat(4,2,K,2,4,H,KHP);
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Mul_Mat_Mat(2,2,KHP,4,4,P,KHP2);
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Sub_Mat_Mat(4,4,P,2,2,KHP2,P);
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Plot_Mat(P," P(k+1|k+1) = P(k+1|k) - K.H.P(k+1|k) = ");
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Mul_Mat_Mat(4,4,KHP,4,4,Pf,KHP2);
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Sub_Mat_Mat(4,4,Pf,4,4,KHP2,P2);
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Plot_Mat(P2," P(k+1|k+1) = P(k+1|k) - K.H.P(k+1|k) = ");
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/// La matrice X doit contenir la position filtrée ///
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/// La matrice X doit contenir la position filtrée ///
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X[0][0]=X2[0][0];
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X[1][0]=X2[1][0];
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X[2][0]=X2[2][0];
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X[3][0]=X2[3][0];
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int v;
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int c;
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for(v=0;v<=3;v++)
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{
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for(c=0;c<=3;c++)
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{
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P[v][c]=P2[v][c];
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}
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}
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}
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t = cpt * dt;
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dx = (x - oldx)/dt;
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Formats disponibles : Unified diff
Affichage des bons résultats cependant mon gnuplot n'est pas reconnu sur mon pc