Verified Process Covariance Matrix Prediction

Gavin-Furtado · Feb 26, 2024 · b71935b · b71935b
1 parent 9c8b571
commit b71935b
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Showing 5 changed files with 6 additions and 3 deletions.
diff --git a/Phase 2/filter_py_lib_test/__pycache__/constants.cpython-311.pyc b/Phase 2/filter_py_lib_test/__pycache__/constants.cpython-311.pyc
diff --git a/Phase 2/filter_py_lib_test/__pycache__/graph.cpython-311.pyc b/Phase 2/filter_py_lib_test/__pycache__/graph.cpython-311.pyc
diff --git a/Phase 2/filter_py_lib_test/__pycache__/kf_computation.cpython-311.pyc b/Phase 2/filter_py_lib_test/__pycache__/kf_computation.cpython-311.pyc
diff --git a/Phase 2/filter_py_lib_test/high_level.py b/Phase 2/filter_py_lib_test/high_level.py
@@ -19,6 +19,7 @@
 '''
 Things to go
 1. verify the Process covarinace matrix, the last two rows do not seem to change
+    I checked this on matrix calculator the numbers are right
 2. build kalman filter class
 3. Measurement matrix Y
 '''
@@ -91,7 +92,7 @@ def main():
 
     ## Initalisation ##
     covar = kal.kalman_initial(position,velocity, acceleration)
-    P_initial = covar.P_initial(2,1,5,3)
+    P_initial = covar.P_initial(2,1,8,7)
 
     # P_predict = kal.Prediction(None,None,None)
     # print(P_predict.P_predicted(P_initial))
@@ -122,7 +123,8 @@ def main():
 
         # Updation
         P_prev = predict_P
-        print(predict_P, P_prev)
+        # print(predict_P, P_prev)
+        # print(predict_P)
         '''
         The last two rows are not changing
         '''

diff --git a/Phase 2/filter_py_lib_test/kf_computation.py b/Phase 2/filter_py_lib_test/kf_computation.py
@@ -146,7 +146,8 @@ def P_predicted(self):
         A.P_prev.A^T + Q
         '''
         prev = self.P_previous
-        P = A_matrix(prev)@prev@A_matrix(prev).transpose() #+Q
+        print(prev)
+        P = A_matrix(prev)@prev@(A_matrix(prev).transpose()) #+Q
 
         ## Simplyfing the calcuations
         P[0][1] = 0