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GPSAccKalman.cpp
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GPSAccKalman.cpp
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#include <assert.h>
#include "GPSAccKalman.h"
#include "Matrix.h"
#include "Kalman.h"
#include <QFile>
GPSAccKalmanFilter_t *GPSAccKalmanAlloc(double x,
double y,
double xVel,
double yVel,
double accDev,
double posDev,
double timeStamp) {
GPSAccKalmanFilter_t *f = (GPSAccKalmanFilter_t*) malloc(sizeof(GPSAccKalmanFilter_t));
assert(f);
f->kf = KalmanFilterCreate(4, 2, 2);
/*initialization*/
f->predictTime = f->updateTime = timeStamp;
f->predictCount = 0;
f->accDev = accDev;
MatrixSet(f->kf->Xk_k,
x, y, xVel, yVel);
MatrixSetIdentityDiag(f->kf->H); //state has 4d and measurement has 4d too. so here is identity
MatrixSetIdentity(f->kf->Pk_k);
MatrixScale(f->kf->Pk_k, posDev); //todo get speed accuracy if possible
return f;
}
//////////////////////////////////////////////////////////////////////////
void GPSAccKalmanFree(GPSAccKalmanFilter_t *k) {
assert(k);
KalmanFilterFree(k->kf);
free(k);
}
//////////////////////////////////////////////////////////////////////////
static void rebuildF(GPSAccKalmanFilter_t *f, double dt) {
MatrixSet(f->kf->F,
1.0, 0.0, dt, 0.0,
0.0, 1.0, 0.0, dt,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0);
}
//////////////////////////////////////////////////////////////////////////
static void rebuildU(GPSAccKalmanFilter_t *f,
double xAcc,
double yAcc) {
MatrixSet(f->kf->Uk,
xAcc,
yAcc);
}
//////////////////////////////////////////////////////////////////////////
static void rebuildB(GPSAccKalmanFilter_t *f,
double dt) {
double dt2 = 0.5*dt*dt;
MatrixSet(f->kf->B,
dt2, 0.0,
0.0, dt2,
dt, 0.0,
0.0, dt);
}
//////////////////////////////////////////////////////////////////////////
static void rebuildR(GPSAccKalmanFilter_t *f,
double posSigma) {
// MatrixSetIdentity(f->kf->R);
// MatrixScale(f->kf->R, posSigma*posSigma);
double velSigma = posSigma * 1.0e-01;
MatrixSet(f->kf->R,
posSigma, 0.0, 0.0, 0.0,
0.0, posSigma, 0.0, 0.0,
0.0, 0.0, velSigma, 0.0,
0.0, 0.0, 0.0, velSigma);
}
//////////////////////////////////////////////////////////////////////////
static void rebuildQ(GPSAccKalmanFilter_t *f,
double accDeviation) {
// MatrixSetIdentity(f->kf->Q);
// MatrixScale(f->kf->Q, accSigma * dt);
double velDev = accDeviation * f->predictCount;
double posDev = velDev * f->predictCount / 2;
double covDev = velDev*posDev;
MatrixSet(f->kf->Q,
posDev*posDev, 0.0, covDev, 0.0,
0.0, posDev*posDev, 0.0, covDev,
covDev, 0.0, velDev*velDev, 0.0,
0.0, covDev, 0.0, velDev*velDev);
}
void GPSAccKalmanPredict(GPSAccKalmanFilter_t *k,
double timeNow,
double xAcc,
double yAcc) {
double dt = (timeNow - k->predictTime) / 1.0e+3;
rebuildF(k, dt);
rebuildB(k, dt);
rebuildU(k, xAcc, yAcc);
++k->predictCount;
rebuildQ(k, k->accDev);
k->predictTime = timeNow;
KalmanFilterPredict(k->kf);
MatrixCopy(k->kf->Xk_km1, k->kf->Xk_k);
}
//////////////////////////////////////////////////////////////////////////
void GPSAccKalmanUpdate(GPSAccKalmanFilter_t *k,
double timeNow,
double x,
double y,
double xVel,
double yVel,
double posDev) {
// double dt = timeNow - k->updateTime;
k->predictCount = 0;
k->updateTime = timeNow;
rebuildR(k, posDev);
MatrixSet(k->kf->Zk, x, y, xVel, yVel);
KalmanFilterUpdate(k->kf);
}
//////////////////////////////////////////////////////////////////////////
double GPSAccKalmanGetX(const GPSAccKalmanFilter_t *k) {
return k->kf->Xk_k->data[0][0];
}
double GPSAccKalmanGetY(const GPSAccKalmanFilter_t *k) {
return k->kf->Xk_k->data[1][0];
}
double GPSAccKalmanGetXVel(const GPSAccKalmanFilter_t *k) {
return k->kf->Xk_k->data[2][0];
}
double GPSAccKalmanGetYVel(const GPSAccKalmanFilter_t *k) {
return k->kf->Xk_k->data[3][0];
}
//////////////////////////////////////////////////////////////////////////