Révision 354
Ajouté par ahkurklu il y a presque 4 ans
| sp4a3_kalman.c | ||
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B[1][0]=-A[1][0]/det;
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B[1][1]=A[0][0]/det;
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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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printf("B[%d][%d] = %f\n",i,j,B[i][j]);
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}
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}
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}
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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 tmp[4][4] = {{0, 0, 0, 0},
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{0, 0, 0, 0},
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{0, 0, 0, 0},
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{0, 0, 0, 0}};
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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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t -= t0;x -= x0;y -= y0;
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debug=0; ///Mettre à 1 pour afficher les matrices.
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debug=1; ///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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// 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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/*
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Mul_Mat_Mat(4,4,F,4,4,P,tmp);
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Mul_Mat_Mat(4,4,tmp,4,4,FT,tmp);
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Add_Mat_Mat(4,4,tmp,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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*/
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// K = P*H' / ( H*P*H' + R);
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/*
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Mul_Mat_Mat(4,2,K,2,4,HT,K);
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Mul_Mat_Mat(2,4,H,4,4,P,tmp);
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Mul_Mat_Mat(2,4,tmp,4,2,HT,tmp);
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Add_Mat_Mat(2,2,tmp,2,2,R,tmp);
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Inverse_Mat_22(2,2,tmp,tmp);
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Mul_Mat_Mat(4,2,K,2,2,tmp,K);
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Plot_Mat(K,"K = ");
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// K = P*H' / ( H*P*H' + R);
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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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//X = X + K*([xb(i);yb(i)]-H*X);
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*/
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//Plot_Mat(Delta,"DELTA = Obs - H.X(k+1|k)");
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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
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