Révision 651
Ajouté par jcguifodjo il y a presque 4 ans
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#include "sp4a3_kalman_extra.h"
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//Addition de matrices
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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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int i,j;
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| ... | ... | |
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}
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//Inversion d'une matrice
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void Inverse_Mat_22(int n,int m,double A[n][m],double B[n][m]){
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double det;
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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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}
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//Transposée de matrices
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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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}
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//Soustraction de matrices
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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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int i,j;
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for(i=0;i<na;i++)
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for(j=0;j<ma;j++)
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out[i][j]=A[i][j]-b[i][j];
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}
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//Multiplication de matrices
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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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int i,j,k;
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for (i=0; i<na; i++)
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| ... | ... | |
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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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//Plot_Mat(Delta,"DELTA = Obs - H.X(k+1|k)");
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Obs[0][0]=x;
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Obs[1][0]=y;
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Mul_Mat_Mat(2,4,H,4,1,X,E);
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Sub_Mat_Mat(2,1,Obs,2,1,E,delta);
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Mul_Mat_Mat(4,2,K,2,1,delta,C1);
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Add_Mat_Mat(4,1,X,4,1,C1,X);
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Add_Mat_Mat(4,1,X,4,1,C1,X);
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Plot_Mat(Obs,"Obs = ");
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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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// P = P - K*H*P;
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Mul_Mat_Mat(4,2,K,2,4,H,A3);
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Mul_Mat_Mat(4,4,A3,4,4,P,A4);
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Sub_Mat_Mat(4,4,P,4,4,A4,P);
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Formats disponibles : Unified diff
Correction decode_trame et conversion de latitude et longitude en dégrée flottant
Fin de l'implémentation du filtre de Kalman