Projet

Général

Profil

« Précédent | Suivant » 

Révision 417

Ajouté par modia3 il y a presque 4 ans

TP3: questions 1,2,3 validées

Voir les différences:

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 R[na][ma]){
int i,j;
if((na==nb)||(ma==mb))
{
for(i=0;i<na;i++)
{
for(j=0;j<ma;j++)
{
R[i][j]=A[i][j]+b[i][j];
}
}
}
}
void Inverse_Mat_22(int n,int m,double A[n][m],double B[n][m]){
......
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 T21a[na][ma],int nb,int mb,double T21b[nb][mb], double R21[na][ma]){
int i,j;
if((na==nb)||(ma==mb))
{
for(i=0;i<na;i++)
{
for(j=0;j<ma;j++)
{
R21[i][j]=T21a[i][j]-T21b[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]){
......
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(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");
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,4,4,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,2,4,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");
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");
}
......
// kalman param
double sigma_etat = 10.0;
double sigma_observation = 2.0;
double X[4][1] = {{0},{0},{0},{0}};
double X[4][1] = {{0},{0},{0},{0}};
double Xinit[4][1]={{0},{0},{0},{0}};
double P[4][4] = {{sigma_etat*sigma_etat, 0, 0, 0},
{0, sigma_etat*sigma_etat, 0, 0},
......
debug=0; ///Mettre à 1 pour afficher les matrices.
///Ajouter votre code ci-dessous///
// Kalman
// Kalman
// X = F*X
// X = F*X
// Mul_Mat_Mat(4,4,F,4,1,Xinit,X);
Plot_Mat(X," X(k+1|k) = ");
//P = F*P*F'+Q;
//P = F*P*F'+Q;
// double FP[4][4];
//double FPF[4][4];
//Mul_Mat_Mat(4,4,F,4,4,P,FP);
// Mul_Mat_Mat(4,4,FP,4,4,FT,FPF);
//Add_Mat_Mat(4,4,FPF,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(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;
// P = P - K*H*P;
//double KH[4][4];
//double KHP[4][4];
// double P_filtre[4][4];
// Mul_Mat_Mat(4,2,K,2,4,H,KH);
// Mul_Mat_Mat(4,4,KH,4,4,P,KHP);
// Sub_Mat_Mat(4,4,P,4,4,KHP,P_filtre);
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 ///

Formats disponibles : Unified diff