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      "[Table of Contents](http://nbviewer.ipython.org/github/rlabbe/Kalman-and-Bayesian-Filters-in-Python/blob/master/table_of_contents.ipynb)"
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     "source": [
      "Adaptive Filtering"
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      "#format the book\n",
      "%matplotlib inline\n",
      "from __future__ import division, print_function\n",
      "import matplotlib.pyplot as plt\n",
      "import book_format\n",
      "book_format.load_style()"
     ],
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     "metadata": {},
     "source": [
      "Introduction"
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    },
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     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "**author's note: this chapter is in heavy development - read it if you want, but there are bugs in the sw, a lot of stuff if being revised, text may not match the plots, etc**\n",
      "\n",
      "So far we have considered the problem of tracking objects that are well behaved in relation to our process model. For example, we can use a constant velocity model track an object moving in a straight line. So long as the object moves in a straight line at a reasonably constant speed, or varies it's track and/or velocity very slowly this filter will perform very well. Suppose instead that we are trying to track a manuevering target, by which I mean an object with control inputs, such as a car along a road, an aircraft in flight, and so on. In these situations the filters perform quite poorly. Alternatively, consider a situation such as tracking a sailboat in the ocean. Even if we model the control inputs we have no way to model the wind or the ocean currents. \n",
      "\n",
      "A first order approach to this problem is just to make the process noise $\\mathbf{Q}$ larger to account for the unpredictability of the system dynamics. While this can *work* in the sense of providing a non-diverging filter, the result is typically far from optimal. The larger $\\mathbf{Q}$ results in the filter giving more emphasis to the noise in the measurements. We will see an example of this shortly.\n",
      "\n",
      "So in this chapter we will discuss the concept of an *adaptive filter*. This means about what it sounds like. The filter will *adapt* itself when it detects dynamics that the process model cannot account for. I will start with an example of the problem, and then discuss and implement various adaptive filters.\n"
     ]
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     "cell_type": "heading",
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     "metadata": {},
     "source": [
      "Manuevering Targets"
     ]
    },
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     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "So let's begin by writing a simulation of a manuevering target. We are not interested in modeling anything with high fidelity, nor do we really care about 3 dimensions, so I will just implement a simple 2D model that you can provide steering inputs into. You can provide a new speed and/or direction, and it will modify its state to match."
     ]
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     "cell_type": "code",
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     "input": [
      "from math import sin, cos, radians\n",
      "\n",
      "def angle_between(x,y):\n",
      "  return min(y-x, y-x+360, y-x-360, key=abs)\n",
      "\n",
      "class ManueveringTarget(object): \n",
      "    def __init__(self, x0, y0, v0, heading):\n",
      "        self.x = x0\n",
      "        self.y = y0\n",
      "        self.vel = v0\n",
      "        self.hdg = heading\n",
      "        \n",
      "        self.cmd_vel = v0\n",
      "        self.cmd_hdg = heading\n",
      "        self.vel_step = 0\n",
      "        self.hdg_step = 0\n",
      "        self.vel_delta = 0\n",
      "        self.hdg_delta = 0\n",
      "        \n",
      "        \n",
      "    def update(self):\n",
      "        vx = self.vel * cos(radians(90-self.hdg))\n",
      "        vy = self.vel * sin(radians(90-self.hdg))\n",
      "        self.x += vx\n",
      "        self.y += vy\n",
      "        \n",
      "        if self.hdg_step > 0:\n",
      "            self.hdg_step -= 1\n",
      "            self.hdg += self.hdg_delta\n",
      "\n",
      "        if self.vel_step > 0:\n",
      "            self.vel_step -= 1\n",
      "            self.vel += self.vel_delta\n",
      "        return (self.x, self.y)\n",
      "        \n",
      "\n",
      "    def set_commanded_heading(self, hdg_degrees, steps):\n",
      "        self.cmd_hdg = hdg_degrees\n",
      "        self.hdg_delta = angle_between(self.cmd_hdg, self.hdg) / steps\n",
      "        if abs(self.hdg_delta) > 0:\n",
      "            self.hdg_step = steps\n",
      "        else:\n",
      "            self.hdg_step = 0\n",
      "            \n",
      "            \n",
      "    def set_commanded_speed(self, speed, steps):\n",
      "        self.cmd_vel = speed\n",
      "        self.vel_delta = (self.cmd_vel - self.vel) / steps\n",
      "        if abs(self.vel_delta) > 0:\n",
      "            self.vel_step = steps\n",
      "        else:\n",
      "            self.vel_step = 0\n",
      "      "
     ],
     "language": "python",
     "metadata": {},
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     "cell_type": "markdown",
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     "source": [
      "Now let's implement a simulated sensor with noise."
     ]
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "from numpy.random import randn\n",
      "\n",
      "class NoisySensor(object):\n",
      "    def __init__(self, noise_factor=1):\n",
      "        self.noise_factor = noise_factor\n",
      "\n",
      "    def sense(self, pos):\n",
      "        return (pos[0] + randn()*self.noise_factor, \n",
      "                pos[1] + randn()*self.noise_factor)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 3
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "Now let's generate a track and plot it to test that everything is working and to see what we will be trying to track. I'll put the data generation in a function so we can create paths of different lengths (why will be clear soon)."
     ]
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "from numpy import array\n",
      "import book_plots as bp\n",
      "\n",
      "noise_factor = 2.\n",
      "\n",
      "def generate_data(steady_count, noise_factor):\n",
      "    t = ManueveringTarget(x0=0, y0=0, v0=0.3, heading=0)\n",
      "    xs = []\n",
      "    ys = []\n",
      "\n",
      "    for i in range(30):\n",
      "        x,y = t.update()\n",
      "        xs.append(x)\n",
      "        ys.append(y)\n",
      "\n",
      "    t.set_commanded_heading(310, 25)\n",
      "    t.set_commanded_speed(1, 15)\n",
      "\n",
      "    for i in range(steady_count):\n",
      "        x,y = t.update()\n",
      "        xs.append(x)\n",
      "        ys.append(y)\n",
      "\n",
      "    ns = NoisySensor(noise_factor=noise_factor)\n",
      "    pos = array(list(zip(xs, ys)))\n",
      "    zs = array([ns.sense(p) for p in pos])\n",
      "    return pos, zs\n",
      "\n",
      "pos, zs = generate_data(50, noise_factor)\n",
      "bp.plot_track(*zip(*pos))\n",
      "plt.axis('equal')\n",
      "plt.xlabel('X')\n",
      "plt.ylabel('Y')\n",
      "plt.title('2D Track')\n",
      "plt.show()"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
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8UJ07d9a5c+fUs2dPrVixolgWFABA4TF6JuXdd99VSEiI/Pz8cq/atXr16tz1\nJoMGDdK4ceNUq1YtBQQE5F7964UXXjAZGwBwG7KysvTaa69p7ty5stlsmjBhgoYOHcoUXgBAPkZL\nSmpqqrp3766UlBR5enqqXr16io6OVnBwsCRp2LBhOnfunPr166eTJ0+qUaNGiomJkYeHh8nYAIBb\ndPToUYWFhSk+Pl4eHh6KjIxUhw4dTMcCAFiU0ZIya9asGx4THh6u8PDwIkgDACgMW7ZsUfv27bVv\n3z5VrlxZS5YsUf369U3HAgBYmOXWpAAAHMfy5csVFBSkffv2qWHDhlq/fj0FBQBwQ5QUAECBs9vt\n+te//qXQ0FBlZGSoa9euWrVq1XWvzggAwGWUFABAgbp48aJef/11DRkyRDk5ORozZozmzZsnNzc3\n09EAAMWE8fukAAAcx4kTJ9SpUyetWrVKrq6umj17tp5//nnTsQAAxQwlBQBQIHbs2KGQkBAlJyfL\nx8dHP/74oxo2bGg6FgCgGGK6FwDgjv3yyy9q1KiRkpOTVb9+fSUlJVFQAAC3jZICALgjn3/+uZ55\n5hmdOnVKHTt2VFxcnPz8/EzHAgAUY5QUAMBtuXTpkgYOHKh//OMfys7O1rvvvqtFixZxw10AwB1j\nTQoA4Jalp6era9euio6OVunSpfXll1+qR48epmMBABwEJQUAcEt2796t9u3ba9u2bapQoYK+//57\nNWnSxHQsAIADYboXAOCmrV27Vo8//ri2bdumBx98UOvWraOgAAAKHCUFAHBTZs+eraeeekrHjh3T\nM888o/j4eFWvXt10LACAA6KkAACuKycnR++++6569eqlixcvauDAgVq6dKk8PT1NRwMAOCjWpAAA\nrikjI0Pdu3fXjz/+KGdnZ02bNk19+/Y1HQsA4OAoKQCAqzpw4IDat2+v33//XWXLltV3332np556\nynQsAEAJQEkBAOSzfv16dejQQSkpKQoICNCyZctUo0YN07EAACUEa1IAAHnMnz9fzZo1U0pKilq2\nbKnExEQKCgCgSFFSAACSJLvdrjFjxqhbt27KyspSnz59FB0drfLly5uOBgAoYZjuBQDQuXPn1LNn\nTy1cuFBOTk6aOHGi3nzzTdlsNtPRAAAlECUFAEq4I0eOqEOHDkpKSlKZMmU0f/58tW3b1nQsAEAJ\nRkkBgBJs06ZNCg0N1cGDB1WtWjUtXbpUDz30kOlYAIASjjUpAFBC/fDDD2rSpIkOHjyoJ554QuvW\nraOgAACEXuVdAAAgAElEQVQsgZICACWM3W7XhAkTFBYWprNnz+qll17Sr7/+Ki8vL9PRAACQxHQv\nAChRzp8/rz59+ujrr7+WJI0bN07vvvsuC+QBAJZCSQGAEiItLU1hYWH67bff5O7uroiICD377LOm\nYwEAkA8lBQBKgD/++EMhISHau3evfH19tXTpUj3yyCOmYwEAcFWsSQEAB/fTTz+pcePG2rt3rwID\nA7V+/XoKCgDA0igpAODApkyZopCQEJ05c0ZdunTR6tWrValSJdOxAAC4LkoKADignJwcDR06VAMH\nDlROTo5Gjx6tb775Ru7u7qajAQBwQ0ZLyvjx4/XYY4/J09NTXl5eCg0N1R9//JHnmJ49e8rJySnP\nR1BQkKHEAGB9Fy5c0Msvv6xPPvlEpUqVUkREhN5//305OfF3KQBA8WD0N9bq1avVv39/JSQkKDY2\nVqVKlVKrVq108uTJ3GNsNpuCg4OVkpKS+xEVFWUwNQBYV0ZGhtq3b6/IyEh5eHho+fLl6t69u+lY\nAADcEqNX94qOjs7zeUREhDw9PRUfH6927dpJ+u9Nx1xcXLjJGADcwNGjR9WuXTtt2LBB9913n6Ki\nohQYGGg6FgAAt8xS5/5Pnz6tnJwclStXLnebzWZTXFycvL29VbNmTfXp00dpaWkGUwKA9ezatUtB\nQUHasGGDqlevrvj4eAoKAKDYstntdrvpEJd16dJFu3bt0oYNG3LvfrxgwQJ5eHjI399fe/bs0ciR\nI5Wdna2NGzfKxcVFkpSenp77Gjt37jSSHQBM2bVrl/r166fjx4+rZs2amjRpkipUqGA6FgAA1xQQ\nEJD72NPTM99+y9zMcciQIYqPj1dcXFxuQZGk559/PvdxnTp11KBBA1WtWlXLly9XWFiYiagAYBk7\nduxQ//79derUKQUGBurjjz+Wh4eH6VgAANwRS5SUwYMHa+HChVq5cqWqVat23WMrVqwoPz8/JScn\nX3U/0xvM2LBhgyTef5hRUsff+vXrcwtK27Zt9d1338nNzc10rBKlpI49mMfYg0kFMf6unAl1NcbX\npAwcOFALFixQbGysatSoccPj09LSdOjQIVWsWLEI0gGANcXFxalVq1Y6deqUOnbsqMWLF1NQAAAO\nw2hJ6devn2bPnq3IyEh5enrmXmI4MzNTkpSZmamhQ4cqMTFRe/fu1apVqxQaGipvb2+megEosWJj\nY/X000/rzJkz6tq1qxYuXKi77rrLdCwAAAqM0ZIyffp0ZWRk6KmnnlKlSpVyPz755BNJkrOzs7Zu\n3aoOHTqoZs2a6tmzp2rXrq2EhATmXAMokX7++We1a9dOZ8+eVc+ePTV37lyVLl3adCwAAAqU0TUp\nOTk5193v6uqa714qAFBS/frrr+rYsaOysrL0+uuva9q0adxFHgDgkCyxcB4AcH1r165VaGhobkH5\n7LPP8lwJEQAAR8Kf4ADA4tavX59nite0adMoKAAAh0ZJAQAL27RpU+4i+W7duun//u//mOIFAHB4\n/KYDAIv6448/FBwcrFOnTiksLExz5syRs7Oz6VgAABQ6SgoAWNCuXbvUqlUrHT9+XG3bttX8+fO5\nihcAoMSgpACAxaSmpurpp59WSkqKnnrqKS1atEguLi6mYwEAUGQoKQBgIWfOnFG7du20a9cuNWjQ\nQN9//71cXV1NxwIAoEhRUgDAIi5cuKBOnTpp48aNuv/++7V8+XKVKVPGdCwAAIocJQUALCAnJ0ev\nvPKKVqxYIS8vL/3888/y9vY2HQsAACOuW1Kys7OLKgcAlGjDhg1TZGSk7r77bkVFRen+++83HQkA\nAGOuW1ICAwO1YcOGosoCACXS5MmT9cknn6hUqVJavHixGjRoYDoSAABGXbekHD9+XI0aNdKgQYOU\nmZlZVJkAoMSIiorSkCFDJEmzZs1ScHCw4UQAAJh33ZKybds2vfnmm5o6daoefPBBLVu2rKhyAYDD\n27p1q7p27aqcnByFh4ere/fupiMBAGAJ1y0pd999tyZOnKikpCT5+PgoNDRUXbp0UWpqalHlAwCH\ndPToUYWEhOjMmTN6/vnnFR4ebjoSAACWUepmDnrkkUeUkJCgzz//XMOHD1eNGjXk6+ub5xi73S6b\nzaZt27YVSlAAcBRZWVkKCwvTvn371LBhQ82aNUs2m810LAAALOOmSor03+v3Hzx4UOfOnVOFChXk\n5eWV7xh+yQLA9dntdr322muKj4+Xn5+ffvjhB7m5uZmOBQCApdxUSfnll1/0+uuva+/evXr99dc1\nfvx4bjAGALdhwoQJmjt3rjw8PLR06VJVrFjRdCQAACznumtSjh07ppdeekmtW7eWu7u74uLiNHXq\nVAoKANyGFStWaMSIEZKkyMhI1a9f33AiAACs6bpnUmrVqqWzZ89q7NixGjZsmEqVuunZYQCAK+zf\nv1/dunVTTk6ORo8erQ4dOpiOBACAZV23ddStW1dffPGFHnjggaLKAwAOJysrS506ddLx48f1zDPP\naPTo0aYjAQBgadctKbGxsUWVAwAc1sCBA7VhwwZVq1ZNkZGRcnZ2Nh0JAABLu+6aFADAnZk1a5a+\n+OIL3XXXXVq0aJHKly9vOhIAAJZHSQGAQrJp0yb94x//kCRNnz5djz76qOFEAAAUD5QUACgEZ86c\nUZcuXXT+/Hn16dNHvXr1Mh0JAIBig5ICAIWgf//+Sk5OVt26dTV58mTTcQAAKFYoKQBQwObOnauv\nv/5abm5umj9/vlxdXU1HAgCgWKGkAEAB2rVrV+46lClTpqh27dqGEwEAUPxQUgCggFy4cEHdunVT\nRkaGnnvuOfXu3dt0JAAAiiWjJWX8+PF67LHH5OnpKS8vL4WGhuqPP/7Id9yYMWPk6+srd3d3tWjR\nQtu2bTOQFgCub9SoUUpKSlLVqlX1xRdfyGazmY4EAECxZLSkrF69Wv3791dCQoJiY2NVqlQptWrV\nSidPnsw9ZsKECZo4caKmTp2qpKQkeXl5KTg4WBkZGQaTA0BeK1eu1D//+U85Oztr3rx5Klu2rOlI\nAAAUW9e943xhi46OzvN5RESEPD09FR8fr3bt2slut2vSpEkaPny4wsLCJElz5syRl5eX5s2bpz59\n+piIDQB5nD59OvcSw6NGjVJQUJDhRAAAFG+WWpNy+vRp5eTkqFy5cpKkPXv2KDU1Va1bt849xtXV\nVU2bNlV8fLypmACQx9ChQ7Vv3z41aNBA7733nuk4AAAUeza73W43HeKyLl26aNeuXdqwYYNsNpvi\n4+PVpEkT7d+/X35+frnHvfLKKzp8+HDumZj09PTcfTt37izy3ABKroSEBL355psqXbq0IiIidP/9\n95uOBACA5QUEBOQ+9vT0zLff6HSvKw0ZMkTx8fGKi4u7qcWmLEgFYNqZM2c0duxYSVLfvn0pKAAA\nFBBLlJTBgwdr4cKFWrlypapVq5a73cfHR5KUmpqa50xKampq7r6/CwwMLNSsuLoNGzZI4v2HGabG\nX8+ePXX06FE1atRIkyZNkrOzc5F+fZjHzz6YwtiDSQUx/q6cCXU1xtekDBw4UAsWLFBsbKxq1KiR\nZ5+/v798fHwUExOTuy0rK0txcXEsTAVg1NKlSzVnzhy5urpq9uzZFBQAAAqQ0TMp/fr109y5c/XD\nDz/I09NTKSkpkqQyZcrIw8NDNptNgwYN0rhx41SrVi0FBARo7NixKlOmjF544QWT0QGUYKdPn869\nq/y4ceNUs2ZNw4kAAHAsRkvK9OnTZbPZ9NRTT+XZPmbMGI0ePVqSNGzYMJ07d079+vXTyZMn1ahR\nI8XExMjDw8NEZADQqFGjdOjQIT3++ON68803TccBAMDhGC0pOTk5N3VceHi4wsPDCzkNANxYUlKS\nPv30Uzk7O2vGjBlM8wIAoBAYX5MCAMXFpUuX1LdvX9ntdg0ZMkT16tUzHQkAAIdESQGAm/Tpp59q\n06ZNqlq1Kmd3AQAoRJQUALgJ+/fv16hRoyRJ06ZNY10cAACFiJICADdhwIAByszMVOfOndWuXTvT\ncQAAcGiUFAC4gejoaC1ZskRlypTR5MmTTccBAMDhUVIA4DouXryowYMHS5JGjx6tSpUqGU4EAIDj\no6QAwHV89tln+vPPPxUQEMA9UQAAKCKUFAC4hrS0tNyreH3yySdycXExnAgAgJKBkgIA1zB69Gil\np6erdevWCgkJMR0HAIASg5ICAFfxn//8R1988YWcnZ31r3/9SzabzXQkAABKDEoKAPyN3W7X4MGD\nlZOTo379+unBBx80HQkAgBKFkgIAf/Pzzz8rNjZW5cqV487yAAAYQEkBgCvk5ORo+PDhkqT33ntP\n5cuXN5wIAICSh5ICAFdYuHChNm/eLF9fX/Xr1890HAAASiRKCgD8z8WLFzVy5EhJ0pgxY+Tm5mY4\nEQAAJRMlBQD+Z+bMmdq1a5dq1Kihnj17mo4DAECJRUkBAElnz57V+++/L0n68MMPVapUKcOJAAAo\nuSgpACBp6tSpSklJUYMGDdSpUyfTcQAAKNEoKQBKvMzMTH388ceS/nsWhRs3AgBgFiUFQIn3xRdf\nKC0tTY899phat25tOg4AACUeJQVAiZaVlaWPPvpIkjRq1CjOogAAYAGUFAAl2syZM3XkyBHVr19f\nISEhpuMAAABRUgCUYBcuXNCECRMkSSNHjuQsCgAAFkFJAVBiff311zpw4IDq1KmjsLAw03EAAMD/\nUFIAlEg5OTm5a1Hee+89OTnx4xAAAKvgtzKAEikqKkp//fWXqlSpoi5dupiOAwAArkBJAVAiTZw4\nUZI0cOBA7i4PAIDFUFIAlDibNm3SypUrVaZMGfXu3dt0HAAA8DeUFAAlzr/+9S9J0quvvipPT0/D\naQAAwN8ZLSlr1qxRaGio/Pz85OTkpDlz5uTZ37NnTzk5OeX5CAoKMpQWgCM4dOiQvvnmGzk5OenN\nN980HQcAAFyF0ZKSmZmpunXravLkyXJzc8t3jwKbzabg4GClpKTkfkRFRRlKC8ARfP7557p06ZKe\nffZZVatWzXQcAABwFUZXi7Zp00Zt2rSR9N+zJn9nt9vl4uIiLy+vIk4GwBFdvHhRM2fOlCQNGDDA\ncBoAAHAtll6TYrPZFBcXJ29vb9WsWVN9+vRRWlqa6VgAiqmlS5fqyJEjql27tp588knTcQAAwDXY\n7Ha73XQISSpTpoymTZuml19+OXfbggUL5OHhIX9/f+3Zs0cjR45Udna2Nm7cKBcXl9zj0tPTcx/v\n3LmzSHMDKD4GDBigxMREDRkyRN26dTMdBwCAEisgICD38dUuYmPpmwM8//zzuY/r1KmjBg0aqGrV\nqlq+fLnCwsIMJgNQ3Bw8eFCJiYm666671K5dO9NxAADAdVi6pPxdxYoV5efnp+Tk5GseExgYWISJ\ncNmGDRsk8f7DjJsZf999950kqWvXrmrZsmWR5ILj42cfTGHswaSCGH9XzoS6GkuvSfm7tLQ0HTp0\nSBUrVjQdBUAxcunSJc2ePVuS1LdvX7NhAADADRk9k5KZmZm7hiQnJ0f79u3T5s2bde+996p8+fIK\nDw9X586d5ePjo71792r48OHy9vZmqheAWxITE6PU1FTVqlVLjRo1Mh0HAADcgNEzKUlJSXr00Uf1\n6KOPKisrS+Hh4Xr00UcVHh4uZ2dnbd26VR06dFDNmjXVs2dP1a5dWwkJCfLw8DAZG0AxExERIUl6\n6aWX8t2PCQAAWI/RMynNmzdXTk7ONfdHR0cXYRoAjuj06dP64YcfJEkvvvii4TQAAOBmFKs1KQBw\nqxYtWqSsrCw1a9ZMVatWNR0HAADcBEoKAIf29ddfS/rvVC8AAFA8UFIAOKwjR45o9erVuuuuu9S5\nc2fTcQAAwE2ipABwWN9//73sdruefvrpq97NFgAAWBMlBYDDWrRokSSpU6dOhpMAAIBbQUkB4JCO\nHTum1atXq1SpUmrfvr3pOAAA4BZQUgA4pB9//FHZ2dlq1aqVypUrZzoOAAC4BZQUAA5p8eLFkpjq\nBQBAcURJAeBwzp07p9jYWEliqhcAAMUQJQWAw1m1apWysrLUoEEDeXt7m44DAABuESUFgMP56aef\nJElt27Y1nAQAANwOSgoAhxMVFSVJatOmjeEkAADgdlBSADiU5ORk7dq1S+XLl1fDhg1NxwEAALeB\nkgLAoVxeMP/UU0/J2dnZcBoAAHA7KCkAHMqqVaskSS1atDAbBAAA3DZKCgCHYbfbc0tK8+bNjWYB\nAAC3j5ICwGHs3LlTR44ckZeXl2rVqmU6DgAAuE2UFAAOY/Xq1ZKkZs2ayWazGU4DAABuFyUFgMNI\nTEyUJD3xxBOGkwAAgDtBSQHgMNatWydJevzxxw0nAQAAd4KSAsAhZGZmatu2bSpdurTq169vOg4A\nALgDlBQADmH79u2y2+2qV6+eXF1dTccBAAB3gJICwCH8+eefkqTAwEDDSQAAwJ2ipABwCMnJyZKk\nevXqGU4CAADuFCUFgEO4XFIefvhhw0kAAMCdoqQAKPYuXbqkPXv2SJIeeughw2kAAMCdoqQAKPYO\nHTqkCxcuqHLlyvL09DQdBwAA3CFKCoBi7+DBg5KkGjVqGE4CAAAKAiUFQLF34MABSdIDDzxgOAkA\nACgIRkvKmjVrFBoaKj8/Pzk5OWnOnDn5jhkzZox8fX3l7u6uFi1aaNu2bQaSArCyy2dSKCkAADgG\noyUlMzNTdevW1eTJk+Xm5iabzZZn/4QJEzRx4kRNnTpVSUlJ8vLyUnBwsDIyMgwlBmBFhw4dkiRV\nr17dcBIAAFAQjJaUNm3aaOzYserUqZOcnPJGsdvtmjRpkoYPH66wsDDVqVNHc+bM0ZkzZzRv3jxD\niQFYUVpamiTJz8/PcBIAAFAQLLsmZc+ePUpNTVXr1q1zt7m6uqpp06aKj483mAyA1VwuKb6+voaT\nAACAglDKdIBrSUlJkSR5e3vn2e7l5aXDhw9f83kbNmwo1Fy4Pt5/FLVLly7pxIkTcnJy0oEDB3Tk\nyBHTkVAC8bMPpjD2YNKdjL+AgIDr7rfsmZTr+fvaFQAl16lTpyRJnp6eKlXKsn93AQAAt8Cyv9F9\nfHwkSampqXnmmaempubuu5rAwMBCz4b8Ljdp3n8UtctX/LvnnnsYfyhy/OyDKYw9mFQQ4y89Pf26\n+y17JsXf318+Pj6KiYnJ3ZaVlaW4uDgFBQUZTAbASk6cOCHpvyUFAAA4BqNnUjIzM7Vz505JUk5O\njvbt26fNmzfr3nvvVeXKlTVo0CCNGzdOtWrVUkBAgMaOHasyZcrohRdeMBkbgIVcviS5h4eH4SQA\nAKCgGC0pSUlJatmypaT/rjMJDw9XeHi4evbsqa+++krDhg3TuXPn1K9fP508eVKNGjVSTEwM/xkB\nkOvcuXOSpLvuustwEgAAUFCMlpTmzZsrJyfnusdcLi4AcDVZWVmSJBcXF8NJAABAQbHsmhQAuBmX\n/9Dx9xvCAgCA4ovf6gAAAAAshZICAAAAwFIoKQAAAAAshZICAAAAwFIoKQAAAAAshZICAAAAwFIo\nKQAAAAAshZICAAAAwFIoKQAAAAAshZICAAAAwFIoKQAAAAAshZICAAAAwFIoKQAAAAAshZICAAAA\nwFIoKQAAAAAshZICAAAAwFIoKQAAAAAshZICAAAAwFIoKQAAAAAshZICAAAAwFIoKQAAAAAshZIC\nAAAAwFIoKQAAAAAshZICAAAAwFIoKQAAAAAshZICAAAAwFIoKQAAAAAshZICAAAAwFIsX1LGjBkj\nJyenPB+VKlUyHQsAAABAISllOsDNqFWrllatWpX7ubOzs7kwAAAAAApVsSgpzs7O8vLyMh0DAAAA\nQBGw/HQvSdq9e7d8fX1VvXp1devWTXv27DEdCQAAAEAhsfyZlEaNGmnOnDmqVauWUlNTNXbsWAUF\nBemPP/5Q+fLl8x2/YcMGAylxGe8/itru3btzHzP+YApjD6Yw9mDSnYy/gICA6+63fEl55plnch8/\n9NBDaty4sfz9/TVnzhwNHjzYYDIAAAAAhcHyJeXv3N3dVadOHSUnJ191f2BgYBEngvT/mzTvP4ra\njh07ch8z/lDU+NkHUxh7MKkgxl96evp19xeLNSlXysrK0vbt21WxYkXTUQAAAAAUAsuXlKFDh2rN\nmjXas2eP1q1bp86dO+vcuXPq0aOH6WgAAAAACoHlp3sdOnRI3bp107Fjx3TfffepcePGSkxMVOXK\nlU1HAwAAAFAILF9SvvnmG9MRAAAAABQhy0/3AgAAAFCyUFIAAAAAWAolBQAAAIClUFIAAAAAWAol\nBQAAAIClUFIAAAAAWAolBQAAAIClUFIAAAAAWAolBQAAAIClUFIAAAAAWAolBQAAAIClUFIAAAAA\nWAolBQAAAIClUFIAAAAAWAolBQAAAIClUFIAAAAAWAolBQAAAIClUFIAAAAAWAolBQAAAIClUFIA\nAAAAWAolBQAAAIClUFIAAAAAWAolBQAAAIClUFIAAAAAWAolBQAAAIClUFIAAAAAWAolBQAAAICl\nUFIAAAAAWAolBQAAAIClFIuS8tlnn8nf319ubm4KDAxUXFyc6UgAAAAAConlS8qCBQs0aNAgjRw5\nUps3b1ZQUJDatGmjAwcOmI4GAAAAoBBYvqRMnDhRvXr1Uu/evVWzZk1NmTJFFStW1PTp001HA2AB\njz32mN555x21b9/edBQAAFBASpkOcD0XLlzQv//9bw0bNizP9tatWys+Pt5QKgBWUqNGDXXu3Nl0\nDAAAUIAsXVKOHTum7OxseXt759nu5eWllJSUqz4nPT29KKLhbwICAiTx/sMMxh9MYezBFMYeTCqK\n8Wf56V4AAAAAShZLl5QKFSrI2dlZqampebanpqaqYsWKhlIBAAAAKEyWnu7l4uKiBg0aKCYmRp06\ndcrdvmLFCj333HO5n3t6epqIBwAAAKAQWLqkSNKQIUP00ksvqWHDhgoKCtLnn3+ulJQUvf7666aj\nAQAAACgEli8pXbp00fHjxzV27FgdOXJEDz/8sKKiolS5cmXT0QAAAAAUApvdbrebDgEAAAAAl1l6\n4Tys7+TJkxowYIBq164td3d3ValSRW+88YZOnDiR77iXXnpJZcuWVdmyZfXyyy9z2UQUiM8++0z+\n/v5yc3NTYGCg4uLiTEeCgxk/frwee+wxeXp6ysvLS6Ghofrjjz/yHTdmzBj5+vrK3d1dLVq00LZt\n2wykhSMbP368nJycNGDAgDzbGXsoLEeOHFGPHj3k5eUlNzc31alTR2vWrMlzTGGNP0oK7sjhw4d1\n+PBhffTRR9q6davmzp2rNWvWqFu3bnmOe+GFF7R582b9/PPPio6O1r///W+99NJLhlLDUSxYsECD\nBg3SyJEjtXnzZgUFBalNmzY6cOCA6WhwIKtXr1b//v2VkJCg2NhYlSpVSq1atdLJkydzj5kwYYIm\nTpyoqVOnKikpSV5eXgoODlZGRobB5HAkiYmJ+vLLL1W3bl3ZbLbc7Yw9FJZTp07piSeekM1mU1RU\nlP78809NnTpVXl5euccU6vizAwUsKirK7uTkZD9z5ozdbrfbt23bZrfZbPb4+PjcY+Li4uw2m82+\nY8cOUzHhABo2/H/t3VlI1N0fx/HPzISOLT6ETqkYGuWSRWFaqEUJgYRQ0UVE0KIX2YWkWBdlGSnZ\nQgRBi2QFUWG0EBUtF0rZYkpFYWRkBQUF4WSbNdEC43kuHhqafwvPnxx/v0ffL/jdnN9RvgNfDvOZ\nM2d+k01RUVHQWFJSkikvL7eoIvQHPp/PuFwuc+7cOWOMMd3d3SYmJsZs2rQpMOfTp09myJAhpra2\n1qoy0Ye8e/fOjBo1yly+fNnk5uaa5cuXG2PoPYRWeXm5mTp16i/vh7r/2ElBj+vq6lJ4eLgGDhwo\nSWppadHgwYOVnZ0dmJOTk6NBgwappaXFqjLxH/f161fduXNHeXl5QeN5eXlqbm62qCr0B+/fv1d3\nd7eGDh0qSXr69Km8Xm9QL7rdbk2bNo1eRI8oKirSvHnzNH36dJnvjhLTewil06dPa/LkyZo/f76G\nDx+u9PR07d69O3A/1P1HSEGPevfundatW6eioiI5nf+0V0dHhzweT9A8h8OhYcOGqaOjw4oy0Qe8\nevVKfr9fw4cPDxqnrxBqpaWlSk9PD3zw8q3f6EWEwr59+/TkyRNVV1dLUtBXveg9hNKTJ09UU1Oj\n0aNHq76+XqWlpVq9enUgqIS6/wgp+KmKigo5nc7fXv97cMrn82nWrFkaMWKEtm7dalHlABA6K1as\nUHNzs06ePBn0ZvFX/s0c4FcePnyotWvXqq6uTi6XS5JkjAnaTfkVeg9/qru7WxkZGdq4caMmTJig\ngoIClZSUBO2m/EpP9J/tn5MCa5SVlWnx4sW/nfP9s2p8Pp/y8/PldDp17tw5hYWFBe7FxMSos7Mz\n6G+NMXr58qViYmJ6tnD0G9HR0XK5XPJ6vUHjXq9XsbGxFlWFvqysrEzHjx9XY2OjEhMTA+Pf1jGv\n16v4+PjAuNfrZY3DH2lpadGrV680duzYwJjf79e1a9dUW1urtrY2SfQeQiMuLk5paWlBY6mpqXr2\n7Jmk0K997KTgp6KiopScnPzbKyIiQpL04cMHzZw5U8YYXbhwIXAW5Zvs7Gz5fL6g8yctLS36+PGj\ncnJyevV1oe8ICwtTRkaG6uvrg8YbGhroK/S40tJSHTt2TJcuXVJycnLQvZEjRyomJiaoFz9//qym\npiZ6EX9k7ty5amtr0927d3X37l21trYqMzNTCxYsUGtrq5KSkug9hMyUKVPU3t4eNPbo0aPAhzSh\nXvtclZWVlX/8X9BvffjwQXl5eXr//r2OHj0q6Z9dFZ/Pp/DwcLlcLnk8Ht24cUNHjhxRenq6nj9/\nrmXLlikrK0vFxcUWvwL8l0VGRmr9+vWKi4tTRESEqqur1dTUpAMHDuivv/6yujz0EcXFxTp06JBO\nnJuagF0AAANZSURBVDih+Pj4wBrncDgUFhYmh8Mhv9+vLVu2KCUlRX6/XytWrJDX69XevXuDdpaB\n/4fb7ZbH4wlcw4YNU11dnRISErRkyRJ6DyGVkJCgqqoquVwuxcbG6uLFi6qoqFB5ebkmTZoU+v77\n498HQ7/W2NhoHA6HcTqdxuFwBC6n02muXLkSmPf27VuzcOFCExkZaSIjI82iRYtMV1eXhZWjr6ip\nqTGJiYkmPDzcZGZmmmvXrlldEvqYn61xDofDVFVVBc2rrKw0sbGxxu12m9zcXHP//n2LKkZf9v1P\nEH9D7yFUzp8/byZMmGDcbrdJSUkxO3fu/GFOqPrPYcy/OH0FAAAAAL2EMykAAAAAbIWQAgAAAMBW\nCCkAAAAAbIWQAgAAAMBWCCkAAAAAbIWQAgAAAMBWCCkAAAAAbIWQAgAAAMBWCCkAAFspKCiQ2+1W\ne3v7D/f27dsnp9Opw4cPW1AZAKC38MR5AICtvH79WqmpqRozZoyuXr0aGO/o6NCYMWOUmZmphoYG\nCysEAIQaOykAAFuJiorStm3b1NTUpP379wfGS0pK9OXLF+3Zs8fC6gAAvYGdFACALc2YMUOtra16\n8OCBbt68qdmzZ2vDhg1au3at1aUBAEKMkAIAsKXHjx9r/Pjxys/P161btxQZGanW1lYNGDDA6tIA\nACHG170AALaUlJSk8vJynTp1Si9evFBtbS0BBQD6CUIKAMC2oqKiJEnR0dGaOHGixdUAAHoLIQUA\nYEsvXrzQmjVrNG7cOHV2dqqystLqkgAAvYSQAgCwpZKSEvn9fp05c0aFhYXavn272trarC4LANAL\nODgPALCds2fPas6cOdq8ebNWrVqlN2/eKDU1VcnJyWpqarK6PABAiBFSAAC24vP5lJaWpqFDh+rO\nnTtyuVySpIMHD6qwsFC1tbVaunSpxVUCAEKJkAIAsJWysjLt2LFD169fV1ZWVtC93Nxc3bt3T+3t\n7fJ4PBZVCAAINc6kAABs4/bt29q1a5eWLVv2Q0CRpD179ujjx49auXKlBdUBAHoLOykAAAAAbIWd\nFAAAAAC2QkgBAAAAYCuEFAAAAAC2QkgBAAAAYCuEFAAAAAC2QkgBAAAAYCuEFAAAAAC2QkgBAAAA\nYCuEFAAAAAC28jfhVRPUDF6UrQAAAABJRU5ErkJggg==\n",
       "text": [
        "<matplotlib.figure.Figure at 0x7f9399e84fd0>"
       ]
      }
     ],
     "prompt_number": 4
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "And here is the track vs the simulated sensor readings."
     ]
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "bp.plot_track(*zip(*pos))\n",
      "bp.plot_measurements(*zip(*zs))\n",
      "plt.axis('equal')\n",
      "plt.legend(loc=4)\n",
      "plt.xlabel('X')\n",
      "plt.ylabel('Y')\n",
      "plt.title('Track vs Measurements')\n",
      "plt.show()"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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VPH/+o7VVsuSdxQQOHDDn3yTn22/h/PmU24kfqnb7tvn80UdQt665L03XrhAZ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\nRU5ErkJggg==\n",
       "text": [
        "<matplotlib.figure.Figure at 0x7f9399ba8ac8>"
       ]
      }
     ],
     "prompt_number": 5
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "This may appear to be an extreme amount of noise, but it will allow us to see the effect of various design choices more easily.\n",
      "\n",
      "Now we can implement a Kalman filter to track this object. First let's implement a constant velocity filter. But let's make a simplification first. The *x* and *y* coordinates are independent, so we can track each independently. In the remainder of this chapter we will only track the *x* coordinate to keep the code and matrixes as small as possible. "
     ]
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "from filterpy.kalman import KalmanFilter\n",
      "from filterpy.common import Q_discrete_white_noise\n",
      "\n",
      "dt = 0.1\n",
      "cvfilter = KalmanFilter(dim_x = 2, dim_z=1)\n",
      "cvfilter.x = array([0., 0.])\n",
      "cvfilter.P *= 3\n",
      "cvfilter.R *= noise_factor\n",
      "cvfilter.F = array([[1, dt],\n",
      "                    [0,  1]], dtype=float)\n",
      "cvfilter.H = array([[1, 0]], dtype=float)\n",
      "\n",
      "cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=0.02)\n",
      "\n",
      "\n",
      "def initialize_filter(kf):\n",
      "    \"\"\" helper function - we will be reinitialing the filter\n",
      "    many times.\n",
      "    \"\"\"\n",
      "    \n",
      "    kf.x.fill(0)\n",
      "    kf.P = np.eye(kf.x.shape[0]) * .1"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 6
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "Just to be clear about the dimension reduction, if we wanted to track both *x* and *y* we would have written\n",
      "\n",
      "    cvfilter = KalmanFilter(dim_x = 4, dim_z=2)\n",
      "    cvfilter.x = array([0., 0., 0., 0.])\n",
      "    cvfilter.P *= 300\n",
      "    cvfilter.R *= 1\n",
      "    cvfilter.F = array([[1, dt, 0,  0],\n",
      "                        [0,  1, 0,  0],\n",
      "                        [0,  0, 1, dt],\n",
      "                        [0,  0, 0,  1]], dtype=float)\n",
      "    cvfilter.H = array([[1, 0, 0, 0],\n",
      "                        [0, 0, 1, 0]], dtype=float)\n",
      "\n",
      "    q = Q_discrete_white_noise(dim=2, dt=dt, var=0.020)\n",
      "    cvfilter.Q[0:2, 0:2] = q\n",
      "    cvfilter.Q[2:4, 2:4] = q"
     ]
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "# extract the x coordinates\n",
      "import numpy as np\n",
      "\n",
      "# initialize filter\n",
      "initialize_filter(cvfilter)\n",
      "\n",
      "xs = pos[:,0]\n",
      "z_xs = zs[:,0]\n",
      "# plot the results\n",
      "kxs, _, _, _ = cvfilter.batch_filter(z_xs)\n",
      "t = np.arange(0, len(z_xs) * dt, dt)\n",
      "bp.plot_track(t, xs)\n",
      "bp.plot_filter(t, kxs[:,0], label='KF')\n",
      "plt.xlabel('time (sec)')\n",
      "plt.ylabel('X')\n",
      "plt.legend(loc=4)\n",
      "plt.title('Track vs KF')\n",
      "plt.show()"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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7O86ePYvq1atj27ZtcHV1FTvWW7G4EBERERGpicTERLi7u+PRo0do0KABoqOj0bRpU7Fj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\nRU5ErkJggg==\n",
       "text": [
        "<matplotlib.figure.Figure at 0x7f939996b198>"
       ]
      }
     ],
     "prompt_number": 7
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "We can see from the plot that the Kalman filter was unable to track the change in heading. Recall from the **g-h Filter** chapter that this is because the filter is not modelling acceleration, hence it will always lag the input. The filter will eventually catch up with the signal if the signal enters a steady state. Let's look at that."
     ]
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "# reinitialize filter\n",
      "initialize_filter(cvfilter)\n",
      "\n",
      "pos2, zs2 = generate_data(120, noise_factor)\n",
      "xs2 = pos2[:,0]\n",
      "z_xs2 = zs2[:,0]\n",
      "t = np.arange(0, len(xs2) * dt, dt)\n",
      "# plot the results\n",
      "kxs2, _, _, _ = cvfilter.batch_filter(z_xs2)\n",
      "\n",
      "bp.plot_track(t, xs2)\n",
      "bp.plot_filter(t, kxs2[:,0], label='KF')\n",
      "plt.xlabel('time (sec)')\n",
      "plt.ylabel('X')\n",
      "plt.title('Effects of Acceleration')\n",
      "plt.legend(loc=4)\n",
      "plt.show()"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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o0qQJYWFhVKhw/3eyJCTGs2r7d0TuWIzFkpSi5mDnSNt63ahbpaWuujxFFGBE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\n",
       "text": [
        "<matplotlib.figure.Figure at 0x7f9399b9c198>"
       ]
      }
     ],
     "prompt_number": 8
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "The underlying problem is that our process model is correct for the steady state sections, but incorrect for when the object is manuevering. We can try to account for this by increasing the size of Q, like so."
     ]
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "# reinitialize filter\n",
      "initialize_filter(cvfilter)\n",
      "cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=2.0) # var was 0.02\n",
      "\n",
      "# recompute track\n",
      "kxs2, _, _, _ = cvfilter.batch_filter(z_xs2)\n",
      "\n",
      "bp.plot_track(t, xs2)\n",
      "bp.plot_filter(t, kxs2[:,0], label='KF')\n",
      "plt.legend(loc=4)\n",
      "plt.xlabel('time (sec)')\n",
      "plt.ylabel('X')\n",
      "plt.title('Large Q (var=2.0)')\n",
      "plt.show()"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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8YmNj5e7urg8//FDDhg2Tt7e3g7sH/kWAAQAAyAa2Hlyrn7cstFnnUvXJ2qpU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\nHnjgAbZt25ZreCmvdAZGRERERMq8EXMfLrK554V/c9vnTElJ4YEHHmD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YLBYiIyOJi4vL\ndWx+93358mU2bdrE4MGDqVmz5k2PRUBAABkZGSQnJ9+0r4iI3DpdQiYiIgVWo0aNbF/7+/sDUL16\n9Vzbr4eKo0ePAtC9e/dc5/1r+MmL8T8LDri7u/POO+/wyiuvEBISQrt27ejduzeDBg2iWrVqBdr3\nyZMnAWjatGmBaimJy02LiJRFCjAiIlJgNwoaN2q//ku+w+EAYOnSpVStWrXA+71+j05uZ1nCw8N5\n6KGH+Pbbb1m3bh1vv/02U6ZMYdWqVXTu3PmW930jcXFxuLu74+3tfdvmFBGRG1OAEREp54rzzEGd\nOnWAa0Hk3nvvLfD4GjVq4OXlRVRUVK7ba9WqRXh4OOHh4Zw/f54WLVowefJkOnfunO99X++3f//+\nfNUUFRWVbdEDEREpWroHRkSknLt+5uDq1atFvq+ePXtSoUIFpkyZgs1my7E9NjY2z/Gurq60a9eO\nHTt2ZGtPS0sjLS0tW1vVqlUJCgrKekDn/fffn+e+L1++DFwLOJ07d+aTTz7h1KlT2fr876VrALt2\n7aJ9+/Z51i0iIrePzsCIiJRzbdq0AWDs2LH0798fi8XCfffdR1BQEJD7L+2F5evry8KFC3nyySdp\n2bJl1nNWzpw5w5o1a2jatClLlizJc46HHnqI0aNHk5CQkHWPzZEjR7j33nvp168fjRs3xt3dndWr\nV3P48GFmzpwJgJ+fX773PX/+fDp27EirVq147rnnCAsL48yZM6xcuTLrXhqA33//nbi4OB5++OHb\ndoxERCRvCjAiIuVcq1atmDp1KgsWLGDIkCEYhkFkZCRBQUGYTKZ8X2J2o37/296vXz9CQ0OZMmUK\nM2fOxGq1UrVqVTp06MDzzz9/0/08+eSTjBkzhq+//prBgwcD1y4tGzhwIOvXr2f58uWYTCYaNGjA\nxx9/nNWnIPtu2rQp27ZtY/z48SxatIi0tDRq1KhBnz59stXy2WefUaNGDbp165avYyQiIrfOZNzO\nj9ZERESKwfPPP8/evXvZunWr02qwWq3UqlWLcePGMWLECKfVISJS3ugeGBERKXXefPNN9u7de9Pn\nxhSlxYsX4+HhwQsvvOC0GkREyiOdgRERERERkVJDZ2BERERERKTUUIAREREREZFSQwFGRERERERK\nDQUYEREREREpNRRgRERERESk1FCAERERERGRUkMBRkRERERESo3/D6L/M00VXw/hAAAAAElFTkSu\nQmCC\n",
       "text": [
        "<matplotlib.figure.Figure at 0x7f939584ff98>"
       ]
      }
     ],
     "prompt_number": 9
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "We can see that the filter reacquired the track more quickly, but at the cost of a lot of noise in the output. Furthermore, many tracking situations could not tolerate the amount of lag shown between seconds 4 and 8. We could reduce it further at the cost of very noisy output, like so:"
     ]
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "# reinitialize filter\n",
      "initialize_filter(cvfilter)\n",
      "cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=20.0) # var was 0.02\n",
      "\n",
      "# recompute track\n",
      "cvfilter.x = array([0., 0.])\n",
      "kxs2, _, _, _ = cvfilter.batch_filter(z_xs2)\n",
      "\n",
      "bp.plot_track(t, xs2)\n",
      "bp.plot_filter(t, kxs2[:,0], label='KF')\n",
      "plt.legend(loc=4)\n",
      "plt.xlabel('time (sec)')\n",
      "plt.ylabel('X')\n",
      "plt.title('Huge Q (var=20.0)')\n",
      "plt.show()"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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AAIA0xcXf1IZ9y/X77qWKi79h12/IUKOqbdS23osyTIvGjx+vCRMm6ObNm3J3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\n",
       "text": [
        "<matplotlib.figure.Figure at 0x7f93998f0358>"
       ]
      }
     ],
     "prompt_number": 10
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "Manuevers imply acceleration, so let's implement a constant acceleration Kalman filter and see how it fairs with the same data."
     ]
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "cafilter = KalmanFilter(dim_x = 3, dim_z=1)\n",
      "cafilter.x = array([0., 0., 0.])\n",
      "cafilter.P *= 3\n",
      "cafilter.R *= 1\n",
      "cafilter.F = array([[1, dt, 0.5*dt*dt],\n",
      "                    [0, 1,         dt], \n",
      "                    [0, 0,          1]], dtype=float)\n",
      "cafilter.H = array([[1, 0, 0]], dtype=float)\n",
      "\n",
      "def initialize_const_accel(f):\n",
      "    f.x = array([0., 0., 0.])\n",
      "    f.P = np.eye(3) * 3\n",
      "\n",
      "cafilter.Q = Q_discrete_white_noise(dim=3, dt=dt, var=0.02)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 11
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "initialize_const_accel(cafilter)\n",
      "\n",
      "kxs2, _, _, _ = cafilter.batch_filter(z_xs2)\n",
      "bp.plot_track(t, xs2)\n",
      "bp.plot_filter(t, kxs2[:,0], label='KF')\n",
      "plt.legend(loc=4)\n",
      "plt.xlabel('time (sec)')\n",
      "plt.ylabel('X')\n",
      "plt.title('Constant Acceration Kalman Filter')\n",
      "plt.show()"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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BhoiIiIjoX4QQ2LlzJ6bPnwx3Xzs0+aCW2hgbS3t83Kw3mtRpxTuMaREDDBER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\n",
       "text": [
        "<matplotlib.figure.Figure at 0x7f93998cf048>"
       ]
      }
     ],
     "prompt_number": 12
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "The constant acceleration model is able to track the manuever with no lag, but at the cost of very noisy output during the steady state behavior. The noisy output is due to the filter being unable to distinguish between the beginning of an  manuever and just noise in the signal. Noise in the signal implies an acceleration, and so the acceleration term of the filter tracks it. \n",
      "\n",
      "It seems we cannot win. A constant velocity filter cannot react quickly when the target is accelerating, but a constant acceleration filter misinterprets noise during zero acceleration regimes as legitimate acceleration.\n",
      "\n",
      "Yet there is an important insight here that will lead us to a solution. When the target is not manuevering (the acceleration is zero) the constant velocity filter performs optimally. When the target is manuevering the constant acceleration filter performs well, as does the constant velocity filter with an artificially large process noise $\\mathbf{Q}$. If we make a filter that adapts itself to the behavior of the tracked object we could have the best of both worlds."
     ]
    },
    {
     "cell_type": "heading",
     "level": 2,
     "metadata": {},
     "source": [
      "Detecting a Manuever"
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "Before we discuss how to create an adaptive filter we have to ask *how do we detect a manuever?* We cannot reasonably adapt a filter to respond to manuevers if we do not know when a manuever is happening.\n",
      "\n",
      "We have been defining *manuever* as the time when the tracked object is accelerating, but in general we can say that the object is manuevering with respect to the Kalman filter if its behavior is different than the process model being used by the filter. \n",
      "\n",
      "What is the mathematical consequence of a manuevering object for the filter? The object will be behaving differently than predicted by the filter, so the *residual* will be large. Recall that the residual is the difference between the current prediction of the filter and the measurement. "
     ]
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "from mkf_internal import show_residual_chart\n",
      "show_residual_chart()"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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mae5ijW/e7orluy5iwlcJUCoFGtqZo1fbBqo+ESGtkJtfhP/7PhGmRob4R3d3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\nAIDL/gdIbaLw6+733QAAAABJRU5ErkJggg==\n",
       "text": [
        "<matplotlib.figure.Figure at 0x7f93957f8e48>"
       ]
      }
     ],
     "prompt_number": 13
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "To confirm this, let's plot the residual for the filter during the manuever. I will reduce the amount of noise in the data to make it easier to see the residual."
     ]
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "pos2, zs2 = generate_data(120, noise_factor=0.2)\n",
      "xs2 = pos2[:,0]\n",
      "z_xs2 = zs2[:,0]\n",
      "\n",
      "# reinitialize filter\n",
      "initialize_filter(cvfilter)\n",
      "cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=0.02)\n",
      "xs = []\n",
      "res = []\n",
      "for z in z_xs2:\n",
      "    cvfilter.predict()\n",
      "    cvfilter.update([z])\n",
      "    xs.append(cvfilter.x[0])\n",
      "    res.append(cvfilter.y[0])\n",
      "xs = np.asarray(xs)\n",
      "plt.subplot(121)\n",
      "bp.plot_measurements(t, z_xs2, label='z')\n",
      "bp.plot_filter(t, xs)\n",
      "plt.legend(loc=2)\n",
      "plt.xlabel('time (sec)')\n",
      "plt.ylabel('X')\n",
      "plt.title('estimates vs measurements')\n",
      "plt.subplot(122)\n",
      "# plot twice so it has the same color as the plot to the left!\n",
      "plt.plot(t, res)\n",
      "plt.plot(t, res)\n",
      "plt.xlabel('time (sec)')\n",
      "plt.ylabel('residual')\n",
      "plt.title('residuals')\n",
      "plt.show()"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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TmHVBoinNFFEbxa1eFLf6NMWYAeXHXVFZjtKSMqUcixBCCFE2jVZgGGPg87nD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\nAElFTkSuQmCC\n",
       "text": [
        "<matplotlib.figure.Figure at 0x7f93998d2048>"
       ]
      }
     ],
     "prompt_number": 14
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "On the left I have plotted the noisy measurements (not the track!) against the Kalman filter output. On the right I display the residuals computed by the filter - the difference between the measurement and the predictions made by the Kalman filter. Let me emphasize this to make this clear. The plot on the right is not merely the difference between the two lines in the left plot. The left plot shows the difference between the measurements and the final Kalman filter output, whereas the right plot shows us the difference between the plot and the *predictions of the process model*. \n",
      "\n",
      "That may seem like a subtle distinction, but from the plots you see it is not. The amount of deviation in the left plot when the manuever starts is small, but the deviation in the right tells a very different story. If the tracked object was moving according to the process model the residual plot should bounce around 0.0. This is because the measurements will be obeying the equation \n",
      "\n",
      "$$measurement = process\\_model(t) + noise(t)$$.\n",
      "\n",
      "Once the target starts manuevering the predictions of the target behavior will not match the behavior as the equation will be \n",
      "\n",
      "$$measurement = process\\_model(t) + manuever\\_delta(t) + noise(t)$$.\n",
      "\n",
      "Therefore if the residuals diverge from a mean of 0.0 we know that a manuever has commenced.\n",
      "\n",
      "We can see from the residual plot that we have our work cut out for us. We can clearly see the result of the manuever in the residual plot, but the amount of noise in the signal obscures the start of the manuever. This is our age old problem of extracting the signal from the noise. "
     ]
    },
    {
     "cell_type": "heading",
     "level": 2,
     "metadata": {},
     "source": [
      "Adjustable Process Noise"
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "The first approach we will consider will use a lower order model and adjust the process noise based on whether a manuever is occuring or not. When the residual gets *large* (for some reasonalbe definition of large) we will increase the process noise. This will cause the filter to favor the measurement over the process prediction and the filter will track the signal closely. When the residual is small we will then scale back the process noise.\n",
      "\n",
      "There are many ways of doing this in the literature, I will consider a couple of choices."
     ]
    },
    {
     "cell_type": "heading",
     "level": 3,
     "metadata": {},
     "source": [
      "Continuous Adjustment"
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "The first method (from Bar-Shalom [1]) normalizes the square of the residual using the following equation:\n",
      "\n",
      "$$ \\epsilon = \\mathbf{y^\\mathsf{T}S}^{-1}\\mathbf{y}$$\n",
      "\n",
      "where $\\mathbf{y}$ is the residual and $\\mathbf{S}$ is the measurement covariance, which has the equation\n",
      "\n",
      "$$\\mathbf{S} = \\mathbf{HPH^\\mathsf{T}} + \\mathbf{R}$$\n",
      "\n",
      "If the linear algebra used to compute this confuses you, recall that we can think of matrix inverses as division, so $\\epsilon = \\mathbf{y^\\mathsf{T}S}^{-1}\\mathbf{y}$ can be thought of as computing\n",
      "\n",
      "$$\\epsilon=\\frac{\\mathbf{y}^2}{\\mathbf{S}}$$\n",
      "\n",
      "Both $\\mathbf{y}$ and $\\mathbf{S}$ are attributes of `filterpy.KalmanFilter` so implementation is of this computation will be straightforward.\n",
      "\n",
      "Let's look at a plot of $\\epsilon$ against time."
     ]
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "from filterpy.common import dot3\n",
      "from numpy.linalg import inv\n",
      "\n",
      "# reinitialize filter\n",
      "initialize_filter(cvfilter)\n",
      "\n",
      "cvfilter.R = np.eye(1)*0.2\n",
      "cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=0.02)\n",
      "epss = []\n",
      "for z in z_xs2:\n",
      "    cvfilter.predict()\n",
      "    cvfilter.update([z])\n",
      "    y = cvfilter.y\n",
      "    S = cvfilter.S\n",
      "    eps = dot3(y.T, inv(cvfilter.S), y)\n",
      "    epss.append(eps)\n",
      "\n",
      "plt.plot(t, epss)\n",
      "plt.ylabel('$\\epsilon$')\n",
      "plt.xlabel('time (sec)')\n",
      "plt.title('Epsilon vs time')\n",
      "plt.show()"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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BAYBupLmlSaVVxXK6nHaHAgBApwi1OwAAgH+UV5/Ur//8qE5WFikr/RLdf9NPFREWaXdY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\nCxwiIiIiIrIZ/x805ozbsv56UQAAAABJRU5ErkJggg==\n",
       "text": [
        "<matplotlib.figure.Figure at 0x7f939984e8d0>"
       ]
      }
     ],
     "prompt_number": 15
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "This plot should make clear the effect of normalizing the residual. Squaring the residual ensures that the signal is always greater than zero, and normalizing by the meausement covariance scales the signal so that we can distinguish when the residual is markedly changed relative to the measurement noise. The manuever starts at t=3 seconds, and we can see that $\\epsilon$ starts to increase rapidly not long after that. \n",
      "\n",
      "We will want to start scaling $\\mathbf{Q}$ up once $\\epsilon$ exceeds some limit, and back down once it again falls below that limit. We multiply $\\mathbf{Q}$ by a scaling factor. Perhaps there is literature on choosing this factor analytically; I just derive it experimentally. We can be somewhat more analytical about choosing the limit for $\\epsilon$ (named $\\epsilon_{max}$) - generally speaking once the residual is greater than 3 standard deviations or so we can assume the difference is due to a real change and not to noise. However, sensors are rarely truly Gaussian and so a larger number, such as 5-6 standard deviations is used in practice.\n",
      "\n",
      "I have implemented this algorithm using reasonable values for $\\epsilon_{max}$ and the $\\mathbf{Q}$ scaling factor. To make inspection of the result easier I have limited the plot to the first 10 seconds of simulation. "
     ]
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "from filterpy.common import dot3\n",
      "from numpy.linalg import inv\n",
      "\n",
      "# reinitialize filter\n",
      "initialize_filter(cvfilter)\n",
      "cvfilter.R = np.eye(1)*0.2\n",
      "\n",
      "cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=0.02)\n",
      "\n",
      "Q_scale_factor = 1000.\n",
      "eps_max = 4.\n",
      "\n",
      "epss = []\n",
      "xs = []\n",
      "count = 0\n",
      "for i,z in zip(t,z_xs2):\n",
      "    cvfilter.predict()\n",
      "    cvfilter.update([z])\n",
      "    y = cvfilter.y\n",
      "    S = cvfilter.S\n",
      "    eps = dot3(y.T, inv(cvfilter.S), y)\n",
      "    epss.append(eps)\n",
      "    xs.append(cvfilter.x[0])\n",
      "\n",
      "    if eps > eps_max:\n",
      "        cvfilter.Q *= Q_scale_factor\n",
      "        count += 1\n",
      "    elif count > 0:\n",
      "        cvfilter.Q /= Q_scale_factor\n",
      "        count -= 1\n",
      "        \n",
      "bp.plot_measurements(t, z_xs2, lw=6, label='z')\n",
      "bp.plot_filter(t, xs, label='filter')\n",
      "plt.ylabel('$\\epsilon$')\n",
      "plt.xlabel('time (sec)')\n",
      "plt.legend(loc=4)\n",
      "plt.title('epsilon=4')\n",
      "plt.show()"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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UmgVNm8Knn8JTT1mRXAoISw/3ev311ylfvjyzZ8/O3la5cuXsx4ZhMG3aNMaN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\n",
       "text": [
        "<matplotlib.figure.Figure at 0x7f9395841320>"
       ]
      }
     ],
     "prompt_number": 16
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "The performance of this filter is markedly better than the constant velocity filter. The constant velocity filter took roughly 10 seconds to reacquire the signal after the start of the manuever. The adaptive filter takes under a second to do the same. "
     ]
    },
    {
     "cell_type": "heading",
     "level": 3,
     "metadata": {},
     "source": [
      "Continuous Adjustment - Standard Deviation Version"
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "Another, very similar method from Zarchan [2] sets the limit based on the standard deviation of the measurement error covariance. Here the equations are:\n",
      "\n",
      "$$ \\begin{aligned}\n",
      "std &= \\sqrt{\\mathbf{HPH}^\\mathsf{T} + \\mathbf{R}} \\\\\n",
      "&= \\sqrt{\\mathbf{S}}\n",
      "\\end{aligned}\n",
      "$$\n",
      "\n",
      "If the absolute value of the residual is more than some multiple of the standard deviation computed above we increase the process noise by a fixed amount, recompute Q, and continue."
     ]
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "from filterpy.common import dot3\n",
      "from numpy.linalg import inv\n",
      "from math import sqrt\n",
      "\n",
      "\n",
      "def zarchan_adaptive_filter(Q_scale_factor, std_scale, \n",
      "                            std_title=False,\n",
      "                            Q_title=False):\n",
      "    pos2, zs2 = generate_data(120, noise_factor=0.2)\n",
      "    xs2 = pos2[:,0]\n",
      "    z_xs2 = zs2[:,0]\n",
      "\n",
      "    # reinitialize filter\n",
      "    initialize_filter(cvfilter)\n",
      "\n",
      "    cvfilter.R = np.eye(1)*0.2\n",
      "\n",
      "    phi = 0.02\n",
      "    cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=phi)\n",
      "    xs = []\n",
      "    ys = []\n",
      "    count = 0\n",
      "    for i,z in zip(t,z_xs2):\n",
      "        cvfilter.predict()\n",
      "        cvfilter.update([z])\n",
      "        y = cvfilter.y\n",
      "        S = cvfilter.S\n",
      "        std = sqrt(S)\n",
      "\n",
      "        xs.append(cvfilter.x)\n",
      "        ys.append(y)\n",
      "\n",
      "        if abs(y[0]) > std_scale*std:\n",
      "            phi += Q_scale_factor\n",
      "            cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=phi)\n",
      "            count += 1\n",
      "        elif count > 0:\n",
      "            phi -= Q_scale_factor\n",
      "            cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=phi)\n",
      "            count -= 1\n",
      "\n",
      "    xs = np.asarray(xs)\n",
      "    plt.subplot(121)\n",
      "    bp.plot_measurements(t, z_xs2, label='z')\n",
      "    bp.plot_filter(t, xs[:,0])\n",
      "    plt.ylabel('$\\epsilon$')\n",
      "    plt.xlabel('time (sec)')\n",
      "    plt.legend(loc=2)\n",
      "    if std_title:\n",
      "        plt.title('position(std={})'.format(std_scale))\n",
      "    elif Q_title:\n",
      "        plt.title('position(Q scale={})'.format(Q_scale_factor))\n",
      "    else:\n",
      "        plt.title('position')\n",
      "        \n",
      "    plt.subplot(122)\n",
      "    plt.plot(t, xs[:,1])\n",
      "    plt.xlabel('time (sec)')\n",
      "    if std_title:\n",
      "        plt.title('velocity(std={})'.format(std_scale))\n",
      "    elif Q_title:\n",
      "        plt.title('velocity(Q scale={})'.format(Q_scale_factor))\n",
      "    else:\n",
      "        plt.title('velocity')\n",
      "        \n",
      "    plt.show()\n",
      "\n",
      "    \n",
      "zarchan_adaptive_filter(1000, 2, std_title=True)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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MPsSqVCoIcXcmnAedo78kRqMR+fn50Ol0VtGCo9PplE7hgVQ2byEE8vLyoNVq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\ngg==\n",
       "text": [
        "<matplotlib.figure.Figure at 0x7f93957a27f0>"
       ]
      }
     ],
     "prompt_number": 17
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "So I chose to use 1000 as the scaling factor for the noise, and 2 as the standard deviation limit. Why these numbers? Well, first, let's look at the difference between 2 and 3 standard deviations. "
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "**Two Standard Deviations**"
     ]
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "zarchan_adaptive_filter(1000, 2, std_title=True)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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waNGiMr+eyWSCXq+HTqezixYcnU6ndAoPpLx5CyGQm5sLrVZb6UUMEQFb969H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\npBhsYIiIiIiISDH+H/Tqk83z9xNnAAAAAElFTkSuQmCC\n",
       "text": [
        "<matplotlib.figure.Figure at 0x7f93998a7198>"
       ]
      }
     ],
     "prompt_number": 18
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "**Three Standard Deviations**"
     ]
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "zarchan_adaptive_filter(1000, 3, std_title=True)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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HEMJkjrk6eWDkEy8pmBUREVHZKFrADB8+HEuXLkVgYCBatWqFmJgYrFy5EhMn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\nisEGhoiIiIiIFIMNDBERERERKcb/D/B924sJ7OBkAAAAAElFTkSuQmCC\n",
       "text": [
        "<matplotlib.figure.Figure at 0x7f9399982710>"
       ]
      }
     ],
     "prompt_number": 19
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "We can see from the charts that the filter output for the position is very similar regardless of weather we use 2 standard deviations or three. But the computation of the velocity is a different matter. Let's explore this further. First, lets make the standard deviation very small."
     ]
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "zarchan_adaptive_filter(1000, .1, std_title=True)\n",
      "zarchan_adaptive_filter(1000, 1, std_title=True)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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gJycH06ZNQ1paGrp3746oqCh4eHioETIREZVA1QTm8OHDePLJJzFs2DAAQJMm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\nRU5ErkJggg==\n",
       "text": [
        "<matplotlib.figure.Figure at 0x7f9391e42fd0>"
       ]
      },
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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AEEKIGYu7FoubyRd5sWE9JsHTpaVAGRFCCCF1QwUMIYSYqUf5D7H77+95sVYt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\nGxgiIiIiIpKNfwCUaxG57lgY0gAAAABJRU5ErkJggg==\n",
       "text": [
        "<matplotlib.figure.Figure at 0x7f9391ea0a20>"
       ]
      }
     ],
     "prompt_number": 20
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "As the standard deviation limit gets smaller the computation of the velocity gets worse. Think about why this is so. If we start varying the filter so that it perfers the measurement over the prediction as soon as the residual deviates even slightly from the prediction we very quickly be giving almost all the weight towards the measurment. With no weight for the prediction we have no information from which to create the unobserved variables. So, when the limit is 0.1 std you can see that the velocity is swamped by the noise in the measurement. On the other hand, because we are favoring the measurements so much the position follows the manuver almost perfectly.\n",
      "\n",
      "Now let's look at the effect of various increments for the process noise. Here I have held the standard deviation limit to 2 std, and varied the increment from 1 to 10,000."
     ]
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "zarchan_adaptive_filter(1, 2, Q_title=True)\n",
      "zarchan_adaptive_filter(10, 2, Q_title=True)\n",
      "zarchan_adaptive_filter(100, 2, Q_title=True)\n",
      "zarchan_adaptive_filter(1000, 2, Q_title=True)\n",
      "zarchan_adaptive_filter(10000, 2, Q_title=True)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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UKVMQGRmJ+Ph4g2moCSGkOk2dOhVff/019u7di8GDB5fY7vLly2jfvj3CwsKw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\nAAgMGhgAAAAAgfEKWmyd4ybgmdEAAAAASUVORK5CYII=\n",
       "text": [
        "<matplotlib.figure.Figure at 0x7f939985dba8>"
       ]
      },
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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3N2rXrh3NnDnT5O/P3GcUUeXOVwbXr1+nmTNnUmBgIKnVanJ1daUuXbrQm2++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       "text": [
        "<matplotlib.figure.Figure at 0x7f939985d668>"
       ]
      },
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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Mk8hJkiT7McVs/dt+9tln5t9lFxcX6tGjB/3www8295Oenk7z5s2jBg0akFqt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IxGo/j9fhERGR8fF4vFIqdOndLF8fl8snbtWikrKwuba19fnyiKIjdv3pwxXlEUaWxsnHVsNLE1\nTROz2Sz9/f1h8xERcTgcoqpqxH5EREsV6wzrDMUWl5ARYeqJ2u+v1nfs2AEAOHHiBJKSknTtgUAA\ng4ODAKY+1vz69StKS0vh9XqDf5OTk8jPz4+4XeX0MgGLxaJrN5lMMBqNaG9vh8/nCzl2rrFHRkbQ\n0dGBiooKpKWlRbwWFosF379/x/j4eMS+REQ0N6wzv7DO0HxxCRkRAJvNpvu9cuVKAMCGDRtCtk/f\n7D9+/AgA2Lt3b8jz/l6UwpE/PgRVVRUNDQ04f/481q1bh7y8PBw6dAjl5eVYv359VLE/ffoEAMjO\nzo4ql/9xG1AionjFOjMzF9YZ+lucwBBh9gIwW/v0zffHjx8AgNbWVqSmpkYdd3rtdKinX06nE8XF\nxXj48CGePn2Ky5cvo66uDo8ePYKmafOOPRufzwdVVbFixYoFOycR0VLHOvML6wzNFycwlHD+5ROd\njRs3ApgqEEVFRVGPt9lsWL58OTweT8jj6enpcDqdcDqdGBoawtatW3HlyhVomjbn2NP93r59O6ec\nPB6P7mNUIiLSY50JnSPrDP0r/AaGEs70E53R0dFFj3XgwAGsWrUKdXV1CAQCM457vd6w45OTk5GX\nlwe3261rn5iYwMTEhK4tNTUVVqs1+I/T9u/fHzb2yMgIgKnCo2ka7ty5g/7+fl2fP5cUAMCbN2+w\nc+fOsHkTES1lrDNTWGcoVvgGhhJObm4uAKCmpgalpaUwGo3Ys2cPrFYrgNA3079lNpvR3NyM48eP\nY9u2bcH97wcGBvDkyRNkZ2fD5XKFPUdxcTEuXLiAsbGx4NrnDx8+oKioCMeOHYPdboeqqnj8+DHe\nv3+PxsZGAEBKSsqcYzc1NSE/Px/bt2/H6dOnkZGRgYGBAbS1tQXXOAPA69ev4fP5cPjw4QW7RkRE\niYZ1hnWGYixW258RLab6+nqx2WySlJQkBoNBnj17JiIiBQUFIbe3bGho0I1vb28Xg8EgbW1tunaX\nyyUGg0FevXqla+/s7JSDBw+KxWIRk8kkmzZtkpMnT8rLly8j5ur1ekVVVXG5XMG2L1++SGVlpdjt\ndjGbzZKSkiK5ubm6PtHGfvfunZSUlMjq1avFZDJJVlaWnDt3Ttfn4sWLkpaWFjFnIqKljnWGdYZi\nRxFZwMcERPRXzpw5g66uLrx48SJmOfj9fqSnp6O2thZVVVUxy4OIiBYe6wwlEn4DQ/QfuHTpErq6\nuiLu57+Ybt++jWXLluHs2bMxy4GIiBYH6wwlEr6BISIiIiKiuME3MEREREREFDc4gSEiIiIiorjB\nCQwREREREcUNTmCIiIiIiChucAJDRERERERxgxMYIiIiIiKKG5zAEBERERFR3PgJw6YfIO23iq0A\nAAAASUVORK5CYII=\n",
       "text": [
        "<matplotlib.figure.Figure at 0x7f9399960048>"
       ]
      },
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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uxIgRlnXUzGt5/eMf/5Dtv2vXLtLpdOTg4EB9+/aladOm0YQJE6h79+7k4eFh\n2e/27dvk6elJDg4ONHDgQJoyZQq98MILpFarLfVPURIYIqKvv/6atFotqVQqeu655+jtt9+miRMn\n0gsvvEA+Pj5UrVq1In3W4oiLi7PUJyNHjiS9Xm95EGsuO3TokOyYBw8eUKNGjUiI3CUXpk2bRv37\n9ychcqfptzWt9LFjx0iv15NarbascWP+XenSpYvN5Q7MUzZ7eXlReHg4TZo0yZIc5/95mSUnJ5NK\npbK5aGZVxwlMOZf3pv3WrVs0bNgwS2tHcHAwffvttzaPM5lMtHr1amrXrh3p9XrS6XTUsmVLWrRo\nkdXKxhERETRq1Chq2rQpubu7k5OTEzVo0IDGjh1LkZGRsn3XrVtHkiRZJTD379+nESNGkK+vLzk4\nOFh1IbJXESYlJdGMGTOoYcOGpNFoyM3NjXr06EHbtm0r8LuwJSwsjCRJsrqImp/iF9R8T5RbIQwY\nMID8/PwslbcQuQsl2roYFeSzzz6jgQMHUt26dUmv15O7uzu1aNGC5s6da/NmOD09nRYsWEAtW7a0\ndK1r3LgxTZgwQfZ0Mz09nWbOnEn16tUjrVZLtWvXpgkTJtCDBw8srSp52UtgiIjS0tJo4cKF1LZt\nW3JxcSGtVktBQUH09NNP08qVKwtddO1RmBeQkyRJ9s9cZu9nu2HDBsvvsqurK3Xv3p127dpl930y\nMjJo9uzZ1KBBA9JoNOTj40ODBg2iCxcu2D0mJiaGRo0aZVkxOjAwkN5++21KTEy0uX9qairp9Xqb\nawyx8uW3336jfv36WW7u1q1bZ9mWk5NDU6ZMoebNm5NerydfX18KDQ0t9RbI8mzRokWWv0l7a6WY\nHT16lIYOHUo1a9YktVpNXl5e1Lx5c5owYYJVC4ytaxRR8eors5s3b9KECROoTp06pNFoyNPTk9q2\nbUtz586VHRMYGGhzjbKvv/6a2rRpQ05OTpbPamsleXNrTb9+/Qr8HsaOHUtCCJutDWaJiYn04Ycf\nUvv27S0LUZv/FbaYcn4xMTE0c+ZM6tSpE/n6+pJGoyF/f3/q1asXff/99zaPuXDhAoWFhVl+Vj4+\nPtS5c2erVqHz58/T888/Tz4+PqTX6yk4OJi++OILS5fs/AmMvbrXfK7XXnuNgoKCSKPRULVq1ahJ\nkyY0atSoAq/hj8p8n5C3Xslfz9j6nU5ISKBJkyZRQEAAqdVq8vPzo9GjR9OtW7fsvtf58+dp0KBB\n5O3tTRpnBP2gAAAgAElEQVSNhho2bEhz5swpMAndtWsXdevWjVxcXMjZ2ZnatWtnt+shEdHatWvt\ntjZWdZzAlHOF3bSzomnVqhXVrl3bZv9le65du0Y+Pj4kSRJ9/fXXpRgdq4jMXSzt3Syw8mP37t00\nc+ZM+v7778nJyUl2A5OYmEi9e/emLVu20KVLl+j48ePUpUsXatKkidUK8Kzqee2110gIUejN9unT\np0kIQTNnzizW+c3jPYOCgig2NvZxQmWVUI8ePcjb27vILXNVCScw5RwnMCVj9+7dj/QU4+jRo+Tk\n5EQajabQwYKs6jAajfTEE09Q69atlQ6FFZOzs3OhrQrnz58nIWwPZGZVR0xMDGm1WqpXr16R9h80\naBB5eHjIuggXhXmsXXBwMKWlpT1KqKwSOnbsGAkhbA4TYESFz9PHWCUQEhKCXr16Yd68eUVaSd6s\nffv22LlzJ2bMmIGzZ8+WYoSsIvnuu+9w/vx5LFq0SOlQWCkwr8lga70GVvlt3rwZc+fORa9evZCd\nnV3k1eE//vhjpKWlYenSpcV6v08//RSLFy9Gv379cOLEiUcJmVVCc+bMQb169RAeHq50KOWSoOLc\nzZVT9hYTqgyuX7+Oli1bonPnzvjhhx+UDocxVgU97npM5YmLiwtWrVqFESNG2NyenZ2NHj16wNvb\nW7YmRWWuZ5jcc889hyNHjsDPzw/jxo3Dm2++qXRIjFV6xa1neCHLci4gIAAJCQlKh8EYY5WewWDA\n8OHDkZycjB9//FHpcJhC+GfPWPnHCQxjjLEqz2AwYOjQofjvf/+LAwcOcPcxxhgrxypdAlORujqc\nPHkSABAcHKxwJMXDcZctjrvsVMSYgZKJ20QmrPx6Kq7cvwwAmBe2vkRiqwhycnIwZMgQnD9/HgcO\nHICPj0+B+5f3eqYi/R5XlFgrSpwAx1paKkqsFSVO4PG65io6iN9gMGDGjBmoU6cOdDod6tSpg/fe\new9Go1G235w5c+Dv7w8nJyf06NED58+fVyhixhirnA6e3mVJXiqbtLQ0nD59GqdPn4bJZML169dx\n+vRp3Lx5E0ajES+//DKOHTuGzZs3g4hw9+5d3L17F5mZmUqHzhhjzAZFE5j58+dj9erVWLFiBSIj\nI7Fs2TL861//woIFCyz7LFy4EIsXL8bKlStx4sQJ+Pj4oHfv3khNTVUwcsYYqzzuJdzCD4c3KB1G\nqTlx4gRat26N1q1bIzMzE7Nnz0br1q0xe/ZsxMTEYOfOnbhz5w7atGkDPz8/y78tW7YoHTpjjDEb\nFO1CduLECTz//PN49tlnAQC1a9fGc889h2PHjgEAiAhLly7F9OnT8cILLwAA1q9fDx8fH2zevBlj\nx45VLHbGGKsMTCYjNkYsR44xx1KmUzspGFHJ6969O0wmk93tBW1jDABSMhMQl3IbdVMCUc3FS+lw\nGKvyFG2BCQkJwb59+xAZGQkAOH/+PPbv329JaKKiohAbG4s+ffpYjtFqtejatSuOHDmiSMyMMVaZ\n7P1rB6LvRsrKBnZ7TaFoGCt/7jy4iZ2nVuP3S9uwcNMkJKTcVzokxqo8RVtgxo8fj5iYGDRu3Bgq\nlQoGgwGzZs3C66+/DgC4e/cuAKB69eqy43x8fHD79m2b5zQPXqpIKmLMAMdd1jjuslMRYwaKH3dC\n2j3sOrNJVlazWn1IaS4lGRZjFdqO37+E0WQAAKRnpeLIuQg8++QwhaNirGpTtAVm+fLl+PLLL/HN\nN9/g1KlT2LBhA1atWoW1a9cWeqwQogwiZIyxyslkMuLI5R9gooeTpqhVOnSo15evr4zlcf76X7LX\nf0b+rlAkjDEzRVtgPvroI8yaNQuDBg0CADRt2hTXr1/HggULMGrUKNSoUQMAEBsbi5o1a1qOi42N\ntWzLr7Bp40wmE7Kzs0voEzyelJQUALkrQ1ckJRG3Wq2GJJVt/lyRphbMi+MuOxUxZuDR4v752Ld4\nkHZHVja013i0adgFAK88z5g9ep2r0iEwVuUpmsAQkdVNrCRJICIAQFBQEGrUqIGIiAi0adMGAJCZ\nmYlDhw5h0aJFxX4/k8mErKwsaLXacvGEUavVKh3CI3ncuIkImZmZ0Gg0ZZ7EMMaAmPvX8PMf3wB5\nLoMt63VE6wadlQuKsQrCWcsJDGNKUzSBGTBgAD7++GMEBQWhSZMmOHXqFJYsWYKRI0cCyO0mNmnS\nJMyfPx+NGjVC/fr18eGHH8LFxQWhoaHFfr/s7Oxyk7xUZUIIaLVaSzLJGCs7BmMONkYsh0mQpcxZ\n54aXe4zjayNj+RjyzM5nptPqFYiEMZaXognMkiVL4OrqivDwcMTGxsLX1xdjx47F+++/b9lnypQp\nyMjIQHh4OBISEtChQwdERERAr3+0CwhX0OUD/xwYU8bPx7bgdly0rGxwzzfg4lS+V5dnTAlJqfFW\nZTztNmPKUzSB0ev1WLRoUaHdwWbPno3Zs2eXUVSMMVY5Xbt9EXtObpWVBTfshhb1OigUEWPlW7yN\nKZOzDVkKRMIYy4sHIDDGWBWQkZWOr35ZAqKHT49dVXq81H2MglExVr7ZWvMlOydTgUgYY3lxAsMY\nY1XA1t/W4EFyrKwsNGQSnLTOCkXEWPmXmBJnVcYtMIwpjxMYxhir5E5dPozjF/bLyrp6t0STOm0V\nioixiiHBRgKTk8MJDGNK4wSGMcYqsaS0eHy77zNZma9nbTw/aLpCETFWcdjsQmYoH2vJMVaVcQLD\nGGOVFBHh619XIT0zxVLm4KDCiKcnQ63SKBgZYxVDQip3IWOsPOIEhjHGKqkj5yJwPvpPWdmzHULh\n7x2oTECMVTDchYyx8okTmEpAkiS7/27cuKF0eIwxBdxPvINt+9fIyur4NUbP1v0VioixiiUjKw2Z\n2elW5dwCw5jyFF0HhpWMjRs3yl4TEWbOnIm4uDg4O/MMQ4xVNSaTEZu2LUA2GSxlakcthvd5C5Lk\noGBkjFUctsa/AIDBmAOTych/S4wpiBMYe+ytFE9UMvuXoNDQUNnr+fPn48aNG/jqq6/g4eFR6u/P\nGCtf9h39DteS5a2vA7uOgpdbDYUiYqzisdV9zCzbkA2tWleG0TDG8uIuZJXMTz/9hPfffx8TJ07E\nsGHDlA6HMVbGbsddx67j38rKmgS2wZNNeysUEWMVU4EJDI+DYUxR3AJjT3FbTsqgpaUwly9fRmho\nKLp06YLFixcrHQ5jrIwZjQZsjFgKo3h4PdJrXTC0VziEvVZixphN9rqQAUAOj4NhTFHcAlNJpKam\nYsCAAXB1dcWWLVsgSfyjZayqiTi5FTH3o2RlL/cYBzc9dyVlrLhsTaFsxgP5GVMWt8BUAkSEESNG\nICoqCgcPHoS3t7fSITHGytiD1Lv45e8tsrJW9TuhdYPOCkXEWMWWmWU9A5kZdyFjTFmcwFQCH330\nEbZv344vvvgCwcHBSofDGCtjRpMBhy/vhMlktJS56Nzwco9xCkbFWMVmMObY3cYtMIwpixOYCu7c\nuXOYPXs2mjRpArVabTWl8sCBA+Hk5KRQdIyxsnD25u9ITL8nKxv81Hg461wVioixiq+gBIbHwDCm\nLE5gKrgHDx6AiHDhwgW88sorsm1CCHTt2hW1a9dWKDrGWGm7fvcSzsUckZW1bdQdzeu2VygixioH\ng8lgdxt3IWNMWZzAVHDdunWDyWRSOgzGmAKyDVnY+MtSEB7OOuam98CL3V5TMCrGKgfuQsZY+cVT\nVTHGWAW1+4/NiE28LSsb2iscTlpnhSJirPIwGrkFhrHyihMYxhirgK7eOo/9f+2UlXVo2gtNAtso\nFBFjlYvBwC0wjJVXnMAwxlgFk5WTiU35uo7pNa54ocsoBaNirHLhQfyMlV+cwDDGWAXzw+GvEJci\nn3WsY71+0Gl4xkHGSkqBY2C4CxljiuIEhjHGKpBLN//GwTO7ZGUNa7SBr3uQQhExVjkVOAsZt8Aw\npihOYBhjrILIzM7A5l9XyMo83aqjdeBTCkXEWOXFXcgYK784gWGMsQpi++9fIj75YdcxAYHhvSfC\n0UGtYFSMVU6GAmchyy7DSBhj+XECwxhjFcCF66dw5FyErKxbq36o699UoYgYq7yMJiOI7K+xlm3I\nLMNoGGP5cQLDGGPlXHpWKjb/ulJW5lPNH891HKZQRIxVbgV1HwN4ED9jSuMEhjHGyrnv9v8HSakP\nLK+FEBje5y2oVRoFo2Ks8io0geExMIwpihMYxhgrx05e/A1/Rh6UlT3VZiACazRQKCLGKj9jAeNf\nAE5gGFMaJzCMMVZOxSffx3f7V8vK/HTeCGk/RKGIGKsaCmuByeFB/IwpihOYSiw6OhqSJGH9+vWW\nsnXr1kGSJNy4cUPByBhjhTGZjNgYsRQZ2emWMpUJGDFwFhxVjgpGxljllz+BEUJ+u8QtMIwpixOY\nCs6ckNj69+abb0IIASFEgefYvHkzli1bVkYRM8aKYt9fO3Dl1n9lZc+3Gwo/rwCFImKs6sifwGhU\nWtlrTmAYU5ZK6QBYyZg7dy7q1q0rK2vYsCG2bt0KlargH/PmzZvx3//+F2+99VZphsgYK6Kb965h\n1x+bZWWNNL7o2vFlhSJirGrJvwaMWqVDZs7D1tAcnoWMMUVxC0wl8fTTTyM0NFT2r02bNlCr1ZCk\nwn/MhbXSPIqMjIwSPydjlV22IQsbflkMo+nhDZST1gXDhn8ESfAlu7gOHjyI559/HjVr1rTqUms2\nZ84c+Pv7w8nJCT169MD58+cViJSVJ/lbYNQO1i0wpgLWiWGMlS5Fa8PAwECbXZ+ee+45AAARccXy\nGGyNgcmve/fu2L17t2Vf8z8zIsKKFSvQrFkz6HQ6VK9eHa+99hoePHggO09gYCBCQkKwd+9etG/f\nHjqdDp988kmpfTbGKqsfD29EbHyMrGzoU+Ph5uyhUEQVW1paGpo3b45ly5ZBp9NZPaxZuHAhFi9e\njJUrV+LEiRPw8fFB7969kZqaqlDErDzI3wLjIDnAQZL3ZjAYCh7ozxgrPYp2Ifvzzz9hNBotr2/f\nvo02bdpg8ODBAIBPPvkEixcvxvr169GgQQN88MEH6N27NyIjI+Hs7FyqsU1cNqBUz7/8re0ler7E\nxETExcXZ3FZQ68qsWbMwZcoUxMTEYOnSpVbb33jjDaxduxZhYWGYOHEibty4gRUrVuD48eM4ceIE\nNBqN5T2uXLmCl19+GWPHjsWYMWNQu3btkvlwjFURl26exYHTP8jK2jfuiRb1nlQoooovJCQEISEh\nAICwsDDZNiLC0qVLMX36dLzwwgsAgPXr18PHxwebN2/G2LFjyzpcVk7kb4GRJBUcJEdZy2i2IQtq\nR16LiTElKJrAeHp6yl6vWbMGbm5uGDRoEFcsxfTMM8/IXgshcPbs2UKP69WrF/z8/JCYmIjQ0FDZ\ntiNHjuA///kPvvrqKwwb9nDF72eeeQZdunTBhg0bMGbMGAC5NwJXr17Fzp07LS1ojLGiS89KxaZd\ni2RlHq4+GNjtNYUiqvyioqIQGxuLPn36WMq0Wi26du2KI0eOcD1TheVPYByEA1SSCnknT87OyQJ0\nZRsXYyxXuRnET0T44osvMHz4cGg0Gly7do0rlmJYsWIFGjduLCvTarV29i6aLVu2wNnZGX369JG1\n7jRs2BA+Pj7Yv3+/JYEBgFq1anHywtgj2nrgcyRkJVteCwgM7/MWdBonBaOq3O7evQsAqF69uqzc\nx8cHt2/ftnvcyZMnSzWuklJR4gTKX6zRcZGy1w6SCipJPn35qdN/ws3JqyzDKpby9p0WhGMteRUh\nzvr16z/yseUmgdmzZw+io6MtN8SlUbEEBAQ89k19edW2bVu0a9dOVhYdHf1Y57x06RJSU1OtfgZm\n9+/fl72uU6dOsc6fkpKCc+fOPXJ8j6oi/FHbwnGXnbKO+XrcBZyIPCAra+zXHol3MnDyTtFjKcm4\nH6diqQxKY2ITVnHk7SoGAJLkAAcHeQJjMPEYGMaUUm4SmDVr1qBdu3Zo1qxZofuWRcVS0mNUKiKT\nyQRPT098++23NrdXq1ZN9lqn47Z0xoorIzsVR6/ulpW5O3mjVUB3ZQKqQmrUqAEAiI2NRc2aNS3l\nsbGxlm22BAcHl3psj8OcyJb3OIHyG2v2uQTg8sPXuV3I5AlMvfp1Ude/SRlHVrjy+p3awrGWvIoS\nJwAkJSU98rHlIoG5d+8edu7ciX/961+WstKoWDIzM0sg2srHXkJYt25d/Prrr2jfvj30en2Jv6+L\ni0uZ/oFVpD/qvDjuslPWMRMR/vPDR8gyPJxy3EFywLgBM+DvHVTk85RG3I9TsVQUQUFBqFGjBiIi\nItCmTRsAufXEoUOHsGjRokKOZpWZ0WoQv3UCw4tZMqaccrGowLp166DVajF06FBLWd6KxcxcsXTs\n2FGJMCstvV6PhIQEq/IhQ4bAZDLhgw8+sNpmNBqRmJhYFuExVmkdO78P/42Sd/vq2yG0WMkLK1ha\nWhpOnz6N06dPw2Qy4fr16zh9+jRu3rwJIQQmTZqEhQsXYtu2bTh37hzCwsLg4uJiNakJq1qsplEW\nKqsuZNm8mCVjilG8BYaI8Pnnn2PIkCFwcno4WNVcscyfPx+NGjVC/fr18eGHH3LFUgratm2LLVu2\nYNKkSWjXrh0kScKQIUPQpUsXhIeH45///CfOnj2LPn36QKPR4MqVK9i6dSvmzZuHESNGKB0+YxVS\nfPJ9bD34uawsqEZDPNWmdKdwr2pOnDiBnj17AsitV2bPno3Zs2cjLCwMa9euxZQpU5CRkYHw8HAk\nJCSgQ4cOiIiIKJVWZ1ZxWE+jzC0wjJUniicwBw4cwNWrV7F582arbVyxFE1xxwTl33/8+PH4+++/\nsXHjRqxYsQJAbusLkDu7WevWrfHZZ59h1qxZUKlUCAgIwODBgy03BY8SA2NVmYlM+PrXlcjKfth1\nTK3SYPjTkyBJDgpGVvl0794dJlPBK6abkxrGzGxPoyxPYHI4gWFMMYonMD169JAtZpkfVywFCwsL\ns1qczSwwMNCq4ra1v06nw7p16+y+x6uvvopXX321wDiioqKKEi5jDMDhsz8j8uYZWdnznUfC291X\noYgYY3nZWshSxV3IGCs3ysUYGMYYqyruJ97Bjt/Xycoa1GqOzs2fsX0AY6zMWbXASA5w4C5kjJUb\nnMAwxlgZMZmM2BSxHNnGh+t5a9Q6hPZ6E5LgyzFj5YXVOjDCASpJ3mmFu5AxphyuMRljrIzs+2sH\nrt25ICsb2HU0PFy9FYqIMWaLrRYY7kLGWPmh+BgYxhirCm7HRWPXH/LJSpoGBqNDk6cUiogxZk/+\naZQloYKDRLKyrBxeW44xpXACwxhjpcxgzMFXvyyTdUtx0jhjSK/xPIMfY+WQrRaY/N08M7PTyzIk\nxlgenMAwxlgp+/nYFtyKk8/UN6jn63DTeygUEWOsILZmIXMQ8lum9MzUsgyJMZZHlRsDQ0SF78RK\nHf8cWFURdScSe05ulZW1btAFrRt0VigixlhhDAbrdWDUKo2sLCMrrSxDYozlUaUSGLVajczMTL55\nVhgRITMzE2q1WulQGCtV2TlZ2BSxDEQP12Ny1VfDyz3GKhgVY6wwhvyzkEkOUKt0srJ0TmAYU0yV\n6kImSRI0Gg2yssrHzCEpKSkAABcXF4UjKZ6SiFuj0UCSqlT+zKqgnYc34F7ibVlZaK8J0Gsr1t88\nY1WN1RgYboFhrFypUgkMkJvEaLVapcMAAJw7dw4AEBwcrHAkxVNR42asLEXeOIODZ3bJyjo98TSa\nBLZRKCLGWFFZzUImqaCxaoFJBRHxRByMKYAfgTPGWAnLyErD5j0rZGWebtUxoEuYMgExxorFVguM\ng6SSrQVjMhmRzYtZMqYITmAYY6yEbf3tcySkxlleCwgM7z0RGrWugKMYY+WFrVnIgNzpz/PimcgY\nUwYnMIwxVoLOXj6C4xf2y8p6tngOdf2bKhQRY6y4bK0DAwA6jV5WzuNgGFMGJzCMMVZCUpLi8M2O\nT2Rlvp610bfzKwpFxBh7FMZ8Y2AcxP8SGG3+BIZbYBhTAicwjDFWAogI366ditSHXeQhSQ4Y3mcS\nHFU8ZThjFYl1F7LcBMZJLU9geCplxpTBCQxjjJWAExcP4Kz0QFYW0n4wavnUUSgixtijskpgRO4Y\nGJ1WPgaGu5AxpgxOYBhj7DElpNzH9wfWyMoCqtdHr+AXFYqIMfY48k+jzGNgGCtfOIFhjLHHYCIT\nNu1ZgczsdEuZo0qN4U9Pstz0MMYqDhOZYDTlWwfmf2NgeBYyxsoHTmAYY+wxHDr7Ey7dPCsre77T\nCFSv5q9QRIyxx2E1gN9BZVmskltgGCsfOIFhjLFHdC/hFnYcWi8ra1CzGbq06KtQRIyxx5W/+1je\nxSudNPkH8XMLDGNK4ASGMcYegdFkxMaI5cgxZFvKtGonhPaeCEnwpZWxiir/AH7V/xaxBLgFhrHy\ngmtZxhh7BHtP/h+i70bKyl7s9ho8XL0ViogxVhKsEpi8LTD5ZiHjaZQZUwYnMIwxVky37kfhp2Pf\nysqa1WmHdo17KBQRY6ykFJTAcAsMY+UDJzCMMVYMOYYcfPXLUtksRXqtC4Y8Nd4y0JcxVnEVPAYm\n3zowPAsZY4rgBIYxxorhp6Nf4/aD67KyIU+Fw8XJXaGIGGMlyboFxv4YmPRsboFhTAmcwDDGWBFF\n3bmIvX9tl5W1bdgVLep1UCgixlhJy78GTN4WGK3GCQIPW1qzsjNgNBnLLDbGWC5OYBhjrAiyDVnY\nFLEcRCZLmbvOHS/2GKtgVIyxkpa/BcYhTwuMJCRo1TrZ9kweB8NYmeMEhjHGimDXkU24l3hbVhb6\n9CSrPvGMsYrNYLA/iB8AdDwTGWOKUxW+C2OMVW3XPngHB1yvIk/PEXR64mk0CmipXFCMsVJR0Cxk\nAM9Exlh5wC0wjDFWgOwb0diUfRaUJ3nxcPFG/y5hisXEGCs9hSUw+Vtd03kmMsbKHCcwjDFWgB+/\nmIn73vInrkN7TbDqB88YqxyK3QLDM5ExVuY4gWGMMTuu/rUfv7nLn652bvYMGtZuoVBEjLHSZj0L\nmby3vVP+qZS5BYaxMqd4AnPnzh2MHDkSPj4+0Ol0aNq0KQ4ePCjbZ86cOfD394eTkxN69OiB8+fP\nKxQtY6yqyMrJxKa9K0HSw75jHq4+6N95pIJRMcZKm/VClvIEJn8LzN/XjuPOgxulHhdj7CFFE5jE\nxER06tQJQgjs3r0bFy9exMqVK+Hj42PZZ+HChVi8eDFWrlyJEydOwMfHB71790ZqKj/xYIyVnh8P\nf4U4tXx9h9Beb0LDXccYq9QKHQOTbxay89F/YsHGiTj89y+lHhtjLJeis5B98skn8Pf3x7p16yxl\nAQEBlv8nIixduhTTp0/HCy+8AABYv349fHx8sHnzZowdy+svMMZK3uWYc/jtzC5ZWZfmfdGgVjOF\nImKMlZXijoEx2/77l2hVv5ONBOcvRN25gOZ1O6CWT92SDZaxKkrRFpjt27ejXbt2GDx4MKpXr45W\nrVph1apVlu1RUVGIjY1Fnz59LGVarRZdu3bFkSNHlAiZMVbJ5RizsfnXFbIyT9fqeL7TKwpFxBgr\nS4UnMLbXfsrKycSBUz/gxMUDOHDqB6RnpuL05SP4bMcH+OX4d1j63XTcT7xTanEzVpUo2gJz7do1\n/Otf/8LkyZMxY8YMnDp1Cm+++SYAIDw8HHfv3gUAVK9eXXacj48Pbt++bXU+ADh58mTpBl0KKmLM\nAMdd1jjusvFn1K94kBQrK2tTuzf+PvtfhSIqupL8ruvXr19i52KsIsmfwDhYTaNsuwUGAH4+/q3l\n/38/+xMy86wRk2PIxpFzv6B/57CSCZSxKkzRFhiTyYQ2bdrgo48+QosWLRAWFoaJEyfKWmHsEUIU\nug9jjBXHrYSruBT7l6ysoW8wargFKhMQY6zMWQ/ilycwQb6NrMpsuZ94GykZSbKyExd/AxE9fpCM\nVXGKtsD4+fmhSZMmsrJGjRrhxo3c2Txq1KgBAIiNjUXNmjUt+8TGxlq25RccHFxK0ZY889PSihQz\nwHGXNY67bKRnpuL7LxbLyrzd/TDmhX9A7ahRKKqiKY3vOikpqfCdGKuErLqQSSrA9PC1k9YZEwbO\nw6GzP8G7mh/SM1Pw2+kfi3Tu5LQE3I6Lhr93UEmGzFiVo2gLTKdOnXDx4kVZ2aVLlxAYGAgACAoK\nQo0aNRAREWHZnpmZiUOHDqFjx45lGSpjrJL77td/Id2QbnkthIThfd4q98kLY6xkFTaNMgDU8WuE\nEc+8jZD2g9E7+CU4OqiLfP7TV/547BgZq+oUTWDefvttHD16FPPnz8eVK1fw3XffYcWKFQgPDweQ\n201s0qRJWLhwIbZt24Zz584hLCwMLi4uCA0NVTJ0xlglciryEP68Kp8YpFebFxDk21ChiFhZMRgM\nmDFjBurUqQOdToc6dergvffeg9FoLPxgVikVNog/P1e9Owb1fB0OkgqOKjUa1Gpe4P5nOIFh7LEp\n2oUsODgY27dvx4wZMzBv3jwEBATgww8/xBtvvGHZZ8qUKcjIyEB4eDgSEhLQoUMHREREQK+3P4iO\nMcaKKjktAVt2L5E9zvHzCsQz7YcoFxQrM/Pnz8fq1auxYcMGNGvWDGfOnEFYWBg0Gg1mzZqldHhM\nAVYJjKrw8S7tm/REqwadYDQaodM4Ydcfm/HL8S0AAElIMNHDPmh3428iNj4G1T1q2jsdY6wQiiYw\nANC3b1/07du3wH1mz56N2bNnl1FEjLGqgojwzU9LkSY9fNouCQmv9JkExyLctLCK78SJE3j++efx\n7LPPAgBq166N5557DsePH1c4MqYUWy0wRWmPU6s0lruqvh2Gono1f9xLuI3gRl3x3f7/IPLmGcu+\nv5/9CS91H1OCUTNWtSjahYwxxpR07Pw+nLt1RlbWonY3+HsHKhMQK3MhISHYt28fIiMjAQDnz5/H\n/jvRWAwAACAASURBVP37C32wxiovYyGzkBWFEALBjbqh75ND4VPNHy3ry8ft/n72J9y6H/VYcTJW\nlSneAsMYY0qIT76HrQc/l5V5ufijqf+TCkXElDB+/HjExMSgcePGUKlUMBgMmDVrFl5//XW7x1SU\ntY0qSpxA+Yr1QcID2etrV6PgX60ugEeP08HoCmeNG1Kzcmf3IzJh7Q+fokfjQdA6Oj1ewHaUp++0\nMBxryasIcT7OemPcAsMYq3JMZMKmPSuQlZ1hKXNUqdG5fn9Igi+LVcny5cvx5Zdf4ptvvsGpU6ew\nYcMGrFq1CmvXrlU6NKYQk0neAuMgHB77nCoHR7St87Ss7H5KDLYcX4yfzq5Dckb8Y78HY1UJt8Aw\nxqqc38/sxuWYv2Vl/TuPhFOOh0IRMaV89NFHmDVrFgYNGgQAaNq0Ka5fv44FCxZg1KhRNo8p72sb\nVaQ1mMpjrAevfgckP3zdpMkTiL+dCuDx4gxGMO5lXsN/o+RPxu+nxODEjd14d8giONiYsrm4yuN3\nag/HWvIqSpzA4603xo8aGWNVSmzCLew8tEFW1qBWc3RuHqJQRExJRARJkleFkiTxaulVmPUg/pJ7\n1vtit9egVVt3GbsVF439p3aW2PswVtlxCwxjrMowmozY+MtS5BizLWVatROG9X6Tu45VUQMGDMDH\nH3+MoKAgNGnSBKdOncKSJUswcuRIpUNjCsl7fQAAR1XJLWbr5VYDbw9aiMN//4QL0adwP+mOZdvO\nwxtwI/YKmgYFo2X9jtA4akvsfRmrbDiBYYxVGb+e/D9cj70sK3ux22uo5uKtUERMaUuWLIGrqyvC\nw8MRGxsLX19fjB07Fu+//77SoTGF5ORkyV6rVeoSPb+vZy281H0sUtIT8dFXbyI9M8Wy7fSVIzh9\n5Qgijn+Hcf1nwaeaf6HnS0qNBwTg6lQNQogSjZWx8ooTGMZYlRBz/xp+/mOzrKxZnXZo17iHQhGx\n8kCv12PRokVYtGiR0qGwciLHUHotMHm5OLnjhS5h2LRnhdW2+0l3sHjLNLz23DTU829q8/gHybHY\ndvBLnL161HI+b3dfpKWmwWDMwbZTK5GelQoHSQW1SgMvtxqo4VkLNTxy/3m4esNF5wad1plboB9B\nVnYGou9ewvW7l5BjzEE1Fy8469zgIDlACAmSkGAw5uBBciwSU+OQY8iG0WiEs5MrPFyr/68rIVm6\nq2ZkpSEhJQ5ZORnQOOrgqFIjKzsDOcZsuOjc4O7ihWou3vBw8YarvhocVWqYTEakZCQhMysd2YZs\nGIzZuJsYDSMZ4HjFgGxDFjKyUpGemYr0rDRkZqdDq3aCu7MH3PSecHf2QI4hB/eT7iAzOwMqBxUE\nBLJzMpFtyEJWTiaeCGqLhrVbKPtl28AJDGOs0ssx5OCrb+fAiIfjGvQ6Vwx5ajw/sWSMyWQb5C0w\njiXcApNXu8Y98fe14zh79ZjVtvTMFKz6v9kI7T0BbRt1BwCcvXoMx87vRXzKfcTGx8jG66SkJyIl\nPdHqPEajAdk5mUjNSEL03Uir7ZKQ4Kxzg7POFc5ObpYbZyKCu7Mn3F284KR1gZNGn/va2QtCCOQY\nspFjzM79ryELOYZsZBuy/5cAEjSOWmgcddCoddBp9KhezR86jd7m92A0GkCgR1pzpyAmMiE1PRkp\n6YkwmgwwkQkmkxFGkxGSEBDCARlZqUhMfYCsnNzPLAkHOGmdoXJQISktHslpicjKycSdu7dgMOXg\n2I0fcD/pDhKS74Og3Fg5tUoDgzEHJjLZ3uF8ybyPi5M7JzCMMaaEnw59hTvGZFnZkJ5vwMXJXaGI\nGGPlEREhO18LTEl3IctLCIGwkHfx36g/EZ98D1F3LuL0lSOW7UaTAV/9shSXb/6NuwkxiL5jnYA8\nLhOZkJyegOT0BOBB4fs/Dm93P+i1LpCEhMycDCQmxyPbkIENh3MTMbVKA7WjFsb/TWWt0+ihUzv9\nL/EwQeWggsrBEZk5GUjPTLUkPvhfKwYBlteE3AkZTCZjyX6IUv6Oiip/ol1q75OTWSbvU1ycwDDG\nKrVrty9i79kfZGXBjbqhRT1esJIxJmc0GUB5nmg7SKoSmdq4ICoHR7So1wEA0J36IeLEd9iVr7vr\n0fN7CzyHJCT7T+LLkfuJt3G/gO3ZhizZjXlGVlrpB8UKlMUJDGOMla2snExsilgmmxLXzdkTL3Ub\no2BUjLHyqiy7j9kihMDT7QbBy60GNu5ZDqPRUOD+7s6e6NshFMGNuuJewi2kZaYiMvIiJOGADsGd\n4axzhdFkREZWKmITbuHOgxu4G38T9+Jv5XY5y0hCZnZ6GX26ykVAwLuaH+r4NYarkzsSUuKQkZWW\n21pEJpDJBAigmos3PF19oFU7QQiBpNR4xKfct3T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7+Ius9sjgGWjXmkvHiEhZvt67Dhcu\nZctqEwbPQERwtKBERNRYbGCIqFFOnT+MHRn/ktV6duqH+G7DBSUiIqrd8ZxM7Nz/pax2X9QA9Ivh\nzysiNWIDQ0QNdq2yFOu2LYcEyVEz+vjj8aHP8+JvRKQopeVXsW77W7Kan287TBzyLH9eEakUGxgi\narDPd/0dhaUFstrU4b+Ft6evoERERDVJkoT1O1bgalmho6bRaPHkiDnw8vARmIyI7gYbGCJqkMxT\naUg/vktWG3Lfg+h8T08xgYiI6rDjpy9wuNoR78NjH0HHkBhBiYioKbCBIaJ6Ky67go07V8tqQf73\nYEy/qYISERHV7sdjKfjqPx/Lau0DozCq72OCEhFRU1FMA7N06VJotVrMmjVLVl+0aBFCQkLg5eWF\nwYMH4+jRo4ISErk2SZLwyY6VKKsocdR0Gi2eHDEX7m7uApMREcmdOn+4xvVePPVeeHLEXOh0vAQe\nkdo1uIE5fvx4k4fYt28f3n//ffTo0UO2oe61117DsmXLsGLFCqSnp8NkMmH48OEoLS1t8gxEdHtp\nh5Nx9MxPstroflMQ0i5cUCIiotp9+f1HsEt2x22dzg2/HruAR7wTOYkGNzBLlixx/Plf/7p5hOrl\ny5fx9ttvNzhAcXExpk6dig8//BB+fn6OuiRJWL58ORYsWIDx48cjJiYGa9asQUlJCdavX9/gv4eI\nGu9SUR6+2P2BrBYRFI2hvR8SlIiIqHY5+adw9uJpWe3JEXMRFdZdUCIiamoNbmDKy8sdf/7qq68c\nf/b398elS5caHGDGjBmYMGECBg4cCEm6eSRrdnY2zGYzkpKSHDVPT08kJiYiLS2twX8PETWO3W7D\nuuS3YLHdvHq13t0TU5JmQ6vVCUxGRFRT6s/fym53bX8fekX2F5SGiJpDgxeC+vr64uuvv8aYMWNq\n3KfTNeyXmffffx9ZWVmOGZVbl4/l5+cDAAICAmTPMZlMyM3NrfM1MzIyGpRBCdSYGWDuliYq96Hz\n/0F2nnzp6H33DEHO6QvIwYU7Pl+N3281ZgaaNndkZGSTvRZRSykrv4r9J1NltQE9RglKQ0TNpcEN\nzJ/+9CfEx8cjISEBhYWFOHfuHDw8PJCcnIxz587V+3VOnDiBl156CampqY7GR5Ik2SxMXXjhKaKW\ncaU0HwfP7pbVQvw6ITKgl6BERES1q7SUY8ve9bDaLI5aG9926NrhPoGpiKg5NLiBCQsLw+7du/Hs\ns89i586daN++PQBg6NCh2LBhQ71fZ+/evSgoKEBMzM2z2G02G77//nu89957OHz4MADAbDYjNDTU\n8Riz2YzAwMA6Xzc2Nrah/0nC3Pi0VE2ZAeZuaaJyW6ss+OuGj2UbYb09ffHcIy+hlbffbZ55nRq/\n32rMDDRP7uLi4iZ7LaLmYrFW4qcTe3Di3EEcz8nEtUr5IT/9u4/kUlciJ9SoswQ7deqEHTt2IDc3\nFzk5OQgODnY0MvU1fvx4xMXFOW5LkoTp06cjKioKL774IiIjIxEYGIjk5GT07t0bAFBRUYHU1FT8\n9a9/bUxsImqAr/f+E3mXz8pqjw15rl7NCxFRc7tw6Qz+8fWfUVCcX+v97jo94mOGtnAqImoJd3UY\nenBwMIKDgxv1XKPRCKPRKKt5eXnBz88PXbt2BQDMmTMHS5YsQXR0NCIjI7F48WL4+vpi8uTJdxOb\niO7g1PlDSNn/b1mtT/Qg3BuZICgREdFN6cd3Y8N3K2GtstR6v4e7JyYOeQ6+Xq1bOBkRtQRFXc1J\no9HI9rfMnz8f5eXlmDlzJgoLCxEfH4/k5GR4e3sLTEnk3Mory7Au+S1IuLkfzc+nLR4d9BuBqYiI\nrvvPoW3YuHN1rfcZPLyR2HM0BvUaB29P3xZORkQtRVENTEpKSo3awoULsXDhQgFpiFzT57v/jsKS\nAlltStJvYfDgBwdEJFZdzUvfrkOR0G047jF1gk6nqF9tiKgZ8F1ORA4HT+/Dj8fkHyQM6jUOUWE9\nBCUiIrrucFZ6jeZFp3PD40OeQ9+u3OtC5ErYwBARAOBqWSE2fLdKVgtsE4YHEqYKSkREdF1BcT7W\nJi+X1XQ6Nzw9+g/oFtFHUCoiEkUrOgARiSdJEj7ZsRJlFVcdNZ1WhydGzIW7m15gMiJydjZ7FX46\nsQdHz/wkO7b9BmuVBR988zrKK8scNa1Gy+aFyIVxBoaIsPfIdhw5I7+K+6i+jyPMFCEoERG5ip3H\nNiGvKAsAMDLuMYzuN0l2/56D3+D8xSxZbdyAJ9m8ELkwzsAQubhLRXn4154PZLUOQZ0xNPZhQYmI\nyFWUW0odzQsAbP1xIyxVlY7bkiQh7dA22XN6dozH4F4PtlhGIlIeNjBELsxut2Fd8luwWCscNb27\nJ55ImgMdr15NRM2swnqtRu14zgHHn09fOIJLxXmO2zqdGyYOeU52yQUicj1sYIhc2I6fvkB23nFZ\nbfz909GudZCgRETkSqy2yhq1Ayf/4/jzviM7ZPf1iOgLXy9j9acQkYvhHhgiF3X+Uha+3bdBVovp\nEIuEbkmCEhGRq7l1udgNh7LTYamqhM1WhczTabL74mOGtVQ0IlIwNjBELshaZcHabcths1c5at46\nT0waNpNLM4ioxVhtFTVqFmsFUvb/GxcuZcNaZXHU/XzbofM9PVsyHhEpFBsYIhe0JW0d8i6fldUe\nHzkbrbz9BCUiIldU2xIyAPh67z9r1OK7DoVWw5XvRMQ9MEQu59T5Q9h14CtZLS56EHp26icoERG5\nqtqWkNXG29CKy1uJyIEzMEQupLyyDOuS34YEyVHz82qDRwb9RmAqInJVdc3A3CqwTRimJs2G0adN\nCyQiIjXgDAyRC/l8999RWHLJcVsDYOqouTB4eIsLRaQgS5cuhVarxaxZs0RHcQmWWhoYX6/WaO3j\nj/YBkZgw+Bn8Ycpy3BPQSUA6IlIqzsAQuYiDp/fix2MpstqgXuMQGdpdUCIiZdm3bx/ef/999OjR\ng4dZtBBrtSVkU4bPQt+uQwWlISK14AwMkQu4WlaIDd+tktWC/O/B2ISpghIRKUtxcTGmTp2KDz/8\nEH5+PMyipVSfgfHUczaYiO6MDQyRk5MkCet3rEBZRYmjptO64YkRc+DupheYjEg5ZsyYgQkTJmDg\nwIGQJOnOT6AmYa2SH6Ns8PASlISI1IRLyIicXNrhZBw985OsNir+cYS2ixCUiEhZ3n//fWRlZWH9\n+vUAcMflYxkZGS0R666pIafVZpHdzjp9BlfNljoeLZ4avqc3MGvzUEtWNeSMjIxs9HPZwBA5sUtF\nefhiz4eyWnhQNIb1Hi8oEZGynDhxAi+99BJSU1Oh0+kAXJ+15CxMy7BUu5Cl3s1TUBIiUhM2MERO\nyma3YW3yclhuWaKhd/PA1KTZ0Gp1ApMRKcfevXtRUFCAmJgYR81ms+H777/He++9h7KyMri7u8ue\nExsb29IxG+TGJ69KzwkAG3+Q74Hp0zsOvl6tBaWpm5q+p8zaPNSSVS05get7DxuLDQyRk9qR8TnO\n5J2Q1R4e+Gu0ax0kKBGR8owfPx5xcXGO25IkYfr06YiKisKLL75Yo3mhpiNJUo3rwHjquQeGiO6M\nDQyRE8rJP4Vvf9goq8V0iEW/mGGCEhEpk9FohNFolNW8vLzg5+eHrl27CkrlGqw2C+yS3XFbG0C5\nvQAAIABJREFUp3PjwSJEVC88hYzIyVRaK7B225uw222Omo/eB5OGvcBrWxDVg0aj4XulBVRUXpPd\nNvAIZSKqJ87AEDmZL7//CBeLcmW1SSN+i1beyltXTqREKSkpd34Q3bUKi7yB8dQbBCUhIrXhDAyR\nEzmSnYHUQ1tltYRuSegeEVfHM4iIxCivNgPjyWvAEFE9sYEhchIl14qxfscKWa2dMQjj758uKBER\nUd2qz8BwCRkR1RcbGCInIEkSNny3EiXXihw1rUaLJ0bOhQeXZRCRApVXlsluGzgDQ0T1xAaGyAns\nPbIDh7J+lNVGxE1Eh8AoQYmIiG6vwlIuu80jlImovtjAEKncpaI8/GvPP2S19oFRSIqbICgREdGd\nlVvkMzBsYIiovtjAEKmYzW7Dx9vehMVa4ajpdXo8OWIudFqdwGRERLdX4xhlLiEjonpiA0OkYsnp\nnyEn/6Ss9vCg36Bd6yBBiYiI6qfmMcpsYIioftjAEKlUTv5JbPtho6zWrX1v9IsZJigREVH9lbOB\nIaJGYgNDpEKV1gp8vG057JLdUfN198akpFm8gjgRqULNJWQ8RpmI6ocNDJEKbd7zIS4V5cpqk0fN\nha9Xa0GJiIgapuYSMh75TkT1I7SBWblyJXr27Amj0Qij0YiEhAR88803sscsWrQIISEh8PLywuDB\ng3H06FFBaYmU4XBWOv5zeJus1r/7SMSExwpKRETUcDWXkHEGhojqR2gDExYWhtdffx0HDhzATz/9\nhCFDhuChhx7CwYMHAQCvvfYali1bhhUrViA9PR0mkwnDhw9HaWmpyNhEwpRcK8InO1bIaqbWwXjo\n/qfEBCIiaiSeQkZEjSW0gRk3bhxGjBiBiIgIdOrUCYsXL4avry9+/PFHSJKE5cuXY8GCBRg/fjxi\nYmKwZs0alJSUYP369SJjEwkhSRI27lyNkvJiR02r1eGJEXPh4e4pMBkRUcPxOjBE1FiK2QNjs9mw\nYcMGVFRUIDExEdnZ2TCbzUhKSnI8xtPTE4mJiUhLSxOYlEiM9OO78PMvP8hqo/o+hvaBkYISERE1\nXoWlXHabDQwR1Zeb6ACHDh1Cv379UFlZCYPBgE2bNqFz586OJiUgIED2eJPJhNzc3NpeCgCQkZHR\nrHmbgxozA8zdksoqr+Krve/Kam19Q+Cn6aD4/x6l56uNGjMDTZs7MpKNMTUfm90muwCvBhp46DmT\nTET1I7yBiY6Oxs8//4zi4mJ8+umnePzxx5GSknLb5/CYWHIlkiQh7fQWWOwWR02ncUP/TuOg1Shm\nEpWIqN5qO4GMP8+IqL6ENzDu7u6IiIgAAPTq1Qvp6elYuXIl/vjHPwIAzGYzQkNDHY83m80IDAys\n8/ViY9VzEtONT0vVlBlg7pa2fst7yCvKktUevH8aBvUaIShR/ajx+63GzEDz5C4uLr7zg4gaqWYD\nw+VjRFR/ivu4w2azwW63Izw8HIGBgUhOTnbcV1FRgdTUVCQkJAhMSNRyCorzkZG9Q1brFBKDxHvH\nCEpERHT3qp9A5skTyIioAYTOwPzP//wPxo4di9DQUMfpYrt378bWrVsBAHPmzMGSJUsQHR2NyMhI\nxyllkydPFhmbqEXY7Tb8c/s7qLJbHTUPd09MGf5bLrUgIlWreQ0YNjBEVH9CGxiz2YypU6ciPz8f\nRqMRPXv2xNatWzF8+HAAwPz581FeXo6ZM2eisLAQ8fHxSE5Ohrc3L3ZFzi/lwFf45cIRWW184q/g\nbwyo4xlEROpQWe0EMgMbGCJqAKENzIcffnjHxyxcuBALFy5sgTREypFbcAZb9q6T1bq0vw/9YoYL\nSkRE1HRq7IHhEjIiagCuQyFSGGuVFR9vWw6brcpR07t5YvKwF3gCHxE5hZrXgDEISkJEasQGhkhh\nvtm3HrkFZ2S1+I6jYfRpIyYQEVET4ylkRHQ32MAQKcgvF45g509fyGrhbWPQoW1XQYmIiJpe9QbG\ngw0METUAGxgihSivvIa1G/8E6ZZaax9/xHUcKSwTEVFz4BIyIrobbGCIFOLLb9/BFZ1FVpsy/Lfw\ncOPATkTOpcZ1YDgDQ0QNwAaGSAFOnT+MtJy9strAe8ei8z09BSUiImo+NffA8IMaIqo/NjBEglmr\nLNi4fYWsZvILwQP9nxCUiIioedVcQsYZGCKqPzYwRIJtT/8cF6/my2qThj4PvZuHoERERM2LMzBE\ndDfYwBAJdP5SFrZnfC6rJXRLQseQGEGJiIiaH2dgiOhusIEhEsRaZcW65Ldhs9+8YGUrLz+MG/Ck\nwFRERM2PMzBEdDfYwBAJsu3HjTUuWDlh8DPw8vARE4iIqIVUWDkDQ0SNxwaGSICz5tPYni5fOhYb\nPRA9O8ULSkRE1DLskh2V1ZaQebh7CkpDRGrEBoaohdnsNnyydTmkWy5ZafRug0cH/kZgKiKillFp\nqZDddtPqodXqBKUhIjViA0PUwnZnfoULRedltUnDZsLLk0vHiMj5Vd//4s4TF4mogdjAELWgy1fN\n+GbvJ7Ja76j70bVDb0GJiIhaVvUTyNx1ekFJiEit2MAQtRCb3Ya125bDUlXpqBk8vDE+8WmBqYiI\nWlaNGRgdZ2CIqGHYwBC1kG/3bUBW7jFZ7cEB09DKu7WgRERELa9mA8MZGCJqGDYwRC3geE4mtqd/\nJqtFB3dDfMwwQYmIiMSovoRMzxkYImogNjBEzay47ArWbntTdupYKy8/PDHm99Bq+BYkItfCTfxE\ndLf42xNRM7LbbVi79U2UlBc7ahqNFk+OnAdfLy4dI1KCpUuXok+fPjAajTCZTBg3bhyOHDkiOpbT\n4h4YIrpbbGCImlFy+mc4ef6QrDYybiKiwroLSkRE1e3evRsvvPAC9u7di507d8LNzQ3Dhg1DYWGh\n6GhOiaeQEdHdchMdgMhZnTp/GN/+sFFW6xTaDSPiJghKRES12bp1q+z22rVrYTQakZaWhjFjxghK\n5bwqazQwnIEhoobhDAxRMyi5VoyPty6DJNkdNR9DK0wbMY9XnCZSuKtXr8Jut8PPz090FKfEJWRE\ndLc4A0PUxOySHeuS30Jx2RVZ/Ymhs2D0aSMoFRHV1+zZs9GrVy/069ev1vszMjJaOFHjKDVnbv55\n2W13nV6xWatTS06AWZuLWrKqIWdkZGSjn8sGhqiJ7c7cgmM5+2W14d3GoEvHPoISEVF9zZs3D2lp\naUhNTYVGoxEdxylZbRbZbZ5CRkQNxQaGqAmZr5zHlv+sk9UiAqIwevCvBCUiovqaO3cuNm3ahJSU\nFHTo0KHOx8XGxrZcqEa48cmrUnOmZn8O3HI+grvOQ7FZb1D69/RWzNo81JJVLTkBoLi4+M4PqgMb\nGKImYrPbsC75Ldmniwa9F6aN+X/Qcd8LkaLNnj0bn376KVJSUhAVFSU6jlOreQoZZ2CIqGHYwBA1\nkeT0z5BjPiWrPTp4Bvx82wlKRET1MXPmTKxbtw6bN2+G0WhEfn4+AMDX1xfe3t6C0zmf6pv49TxG\nmYgaiKeQETWB4zmZ2Lpvg6zWo2M8YjsPFJSIiOpr9erVKC0txdChQxEcHOz4euONN0RHc0o1ZmC4\nB4aIGogzMER36crVS1iz9Q1IkBw1b0MrPDbkWW4CJlIBu91+5wdRk5AkiccoE9Fd4wwM0V2w2arw\n4bd/QVlFiaOmgQbTRsyDr1drgcmIiJTHarPAbrc5bms1Oui0/CyViBqGDQzRXdie8Tly8k/KaqP7\nTUZ0+3sFJSIiUq6Kyuob+Ln/hYgaTmgDs3TpUvTp0wdGoxEmkwnjxo3DkSNHajxu0aJFCAkJgZeX\nFwYPHoyjR48KSEskd+5iFrb+uElWiwmPxfA+jwhKRESkbJVWnkBGRHdPaAOze/duvPDCC9i7dy92\n7twJNzc3DBs2DIWFNw+If+2117Bs2TKsWLEC6enpMJlMGD58OEpLSwUmJ1dnrbLin8lvyZZC+Hj4\nYPKwWdBqOLFJRFSbGvtfuIGfiBpB6MLTrVu3ym6vXbsWRqMRaWlpGDNmDCRJwvLly7FgwQKMHz8e\nALBmzRqYTCasX78eM2bMEBGbCF+mfoTcyzmy2uPDX4Cvl1FQIiIi5au5gZ9LyIio4RT1UfHVq1dh\nt9vh5+cHAMjOzobZbEZSUpLjMZ6enkhMTERaWpqomOTiDp7eiz0Hv5bVYjsmoEfHeEGJiIjUgRex\nJKKmoKijP2bPno1evXqhX79+AOC4mFhAQIDscSaTCbm5ubW+RkZGRvOGbAZqzAy4Zu6SikJsyfy7\nrNaqyg0d2/Zr9u+HK36/RVFjZqBpc0dGRjbZaxHdwCOUiagpKKaBmTdvHtLS0pCamlqva2fw+hrU\n0qpsVuw6/hmstkpHTQstBtw7BR5uBoHJiIjUobxS3sDo2cAQUSMoooGZO3cuNm3ahJSUFHTo0MFR\nDwwMBACYzWaEhoY66maz2XFfdbGxsc2atSnd+LRUTZkB18wtSRLWbluOwjKzrP7g/U9h8H3jmiRf\nXVzx+y2KGjMDzZO7uLi4yV6L6IaKyjLZbW7iJ6LGEL4HZvbs2di4cSN27tyJqKgo2X3h4eEIDAxE\ncnKyo1ZRUYHU1FQkJCS0dFRyYbsztyDjxG5ZrUfHeAzq9YCgRERE6lNu4QwMEd09oTMwM2fOxLp1\n67B582YYjUbHnhdfX194e3tDo9Fgzpw5WLJkCaKjoxEZGYnFixfD19cXkydPFhmdXMjlq2Z89f1H\nslpAm1BMTZrNpYxERA1QUVn9GGVPQUmISM2ENjCrV6+GRqPB0KFDZfVFixbhj3/8IwBg/vz5KC8v\nx8yZM1FYWIj4+HgkJyfD29tbRGRyQV+mroFVunm9F0+9F34zdgE89dz3QkTUEOUW+RIyzsAQUWMI\nbWDsdnu9Hrdw4UIsXLiwmdMQ1XTq/GFknpIf2T3+/ukw+YUISkREpF7VN/FzDwwRNYbwPTBESmW3\n2/Cv3fIjk8NMHdE3ZmgdzyAiotvhDAwRNQU2MER1+O6nzbhQcEZWe2Tgr6HV8G1DRNQY1ffA6LkH\nhogagb+JEdXiwqVsfLPvE1ntvqj7ERHcRVAiIiL1q34KGS9kSUSNwQaGqBprlRVrty2HzV7lqHnr\nvTE+cbrAVERE6lf9OjCcgSGixmADQ1RNcvom5F7OkdUeGzYTRu82ghIREamf3W5DpbVCVnPT6QWl\nISI1YwNDdIv8K+ewI+MLWa1P9CDcG8kLpxIR3Y0KS7nstofewD2FRNQo/MlB9F+SJGHTzndlS8da\nefvhkUG/FpiKiMg5VD+BzKD3EpSEiNSODQzRf/14LAWnLxyR1R5OfBpeHj6CEhEROY/yavtfDB68\nIDURNQ4bGCIAxaVX8MWeD2S16Pa90Cuyv6BERETOpfpFLD05A0NEjcQGhlyeJElYv2MFrlWWOmpu\nWjdMGDQDGo1GYDIiIudRUe0IZc7AEFFjsYEhl5d2OBnHcvbLamMSpqJd6yBBiYiInE+NJWScgSGi\nRmIDQy6tsORSjaVjHYO7YnCvBwQlIiJyTtVnYDw5A0NEjcQGhlza57v/AUtVpeO2h7snpiT9Flqt\nTmAqIiLnU30PDGdgiKix2MCQyzqSnYGff9knq40bMA1tjYGCEhEROa+Kascoe3qwgSGixmEDQy7J\nYq3Ep7v+Jqu1D4xC/+4jBCUiInJunIEhoqbCBoZcjl2yY23ycly5etFR02i0mDj4WV4VmoiomVTf\nxM89METUWPxtjVzOV//5GAdP75XVBvYcgzBThKBERETOr7z6McqcgSGiRnITHYCoJZ02ZyLt9BZZ\nLdi/Pcb0mywoERGRa6iovoTMwxsVuFbHo4mI6sYZGHIZxdcK8EPWVlmtlUcrPPPgy/DQGwSlIiJy\nDeXVNvEbuImfiBqJDQy5BGuVFXtOfgGbvcpR09s1mDH+j/DzbScwGRGRa6g+A+Op5x4YImocNjDk\nEr7euw6FZWZZbcLwmbgnoJOgRERErqXGHhjOwBBRI7GBIadXWHIJuw58JavdF9kfcTFDBSUiInIt\nNrsNFmuF47YGGi7dJaJGYwNDTu/7g9/CLtkdt/182mLi0Oeg0WgEpiIich0V1WZfPPQGHltPRI3G\nnx7k1CqtFUg7nCyrjeg7EV4ePoISERG5nhonkPEIZSK6C2xgyKllHN+Na5Wljtt6NwNiOw8UmIiI\nyPVcq3ERSzYwRNR4bGDIaUmShF2Z8r0vUQG9oHf3EJSIiMg1VVQ/QpknkBHRXWADQ07r+P4dMF85\n77itgQadg2IFJiIick3ltVzEkoiosdjAkHPKzMR3a/5PVmrftgu8PVoJCkRE5Lqqb+LnEjIiuhts\nYMj5FBXh3IzJONmxjazcNbivoEBEpHSrVq1CeHg4DAYDYmNjkZqaKjqSUymvrL6EjA0METWem+gA\nRE1KkoAZM/BdF/ng2DEkBm19QwSFIiIl27hxI+bMmYPVq1djwIABWLlyJUaNGoWjR48iLCysyf8+\nu2RHcelltPJuA51Wh7Pm09h3ZAfyC8+jqKQAfr7t0L/7CPSK7H/b494LSwpgvnIeV0ouoZVXa0SG\ndnNcW8Uu2XGpKA/7T6bix2MpKCotQECbUHRtfx+6tO+FDoGdodXqcK2yFDqtGzzcPZv8aHm73YZL\nxfnIyT9Z41pcnlxCRkR3gQ0MOZe//x2Xv9uCzJeGycrDeo9H+WVBmYhI0ZYtW4bp06fj6aefBgC8\n/fbb2Lp1K1avXo0lS5bUePzRMz/hYmEuikovo02rdogI7oKrZUXIyT+JKyWXUFx2BVfLClFcdgU6\nrQ5RYT3Qtf190Gp1OH8xC+kndqO49DK8PH1xT0AnnMjJhATJ8foFxfk4df4QUg78G90j4hBm6oiI\noGhHc3KpKA8bd67GyXM/y3LpdG5o42tCSVkxKq3XIKVJsvvPX8zC+YtZSE7/DHp3T9jtNlTZrAAA\nrUYLTw9veHl4o7WPPyKCu6BNKxMKivJxqSgXl4ryUGmtQPvASMR2Hojo9vfCTefueG273Yai0iu4\nfNWMguJ8nDz3M46d2S87BfJWrX38G/H/FBHRdWxgyHlYLMArr2DriGjYdTdXRwa2CUOXDvdh/+X9\nAsMRkRJZLBbs378f8+fPl9WTkpKQlpZW63Pe/fL/aq3XJeP4bmQc312jfq2iBMdzDtT5vJz8k8jJ\nPwkA0Gp1CGsXAS9PX/xy4QgsVZU1Hm+zVeFSUW69MlmsFbLbdsmOaxUluFZRgoLifJy+cKTW512+\nasb+k6nQu3siIrgLJMmOK8UXcaXkEmz2qnr93f7GAPSKTKjXY4mIasMGhpyHXo+TOz/HD9v/IisP\nue8hXvGZiGpVUFAAm82GgIAAWd1kMiE/P19QqprsdhtyzKdEx3CwWCtu23zVRgMNooJ6o9c9g3Di\n6GnZfRkZGU0Zr9moJSfArM1FLVnVkDMyMrLRzxX6W92ePXswbtw4hIaGQqvVYs2aNTUes2jRIoSE\nhMDLywuDBw/G0aNHBSQlNbBUVWLjj+tktcA2YYiNThSUiIiofoyGtrg/ajxGdH8SYW2i6v08Py8T\n2vt3hY9n6xr3ebp7o51vKPqEJ2H8fc9jQNRDiGjXHZ7uN/efuGn1cNO613huU9HrPBFo7ICuwfEY\nc++v0TdiJPRuns329xGRaxA6A1NWVoYePXpg2rRpePLJJ2tsIHzttdewbNkyrFmzBlFRUfjf//1f\nDB8+HCdOnICPj4+g1KRU237YhEvFebLa40NnytZpExHdqm3bttDpdDCbzbK62WxGUFBQrc+JDO2O\nNr7t0Nq3Lc5fysKFS9kweHgjIqgLQtqFw+jTBkbvNmjl7YdLRXk49MsPuFScB3edHp56AzqFdkO3\n8D7Iyj2GX3KPXP+gpfNA6HTXh+QxeBi5BTn4Jfcozl38BVkXjuJitaVhnnovjE/8FeK7DoVGo4Ek\nSSgsKUCltQKnjp+C3s2A+L79as1vl+woKSuC3t0Thv8eZ1xls6K88hquVZTg7MVfkJV7DBWWa/Bv\nFYB2rYNg8gtGlc2Kn07sweGsDFy9Vljjdb09feHfKgBtjCYE+IWgS/v70D4wCjqtrs7v/41PiWNj\nlX2NLrXkBJi1uaglq1pyAkBxcXGjnyu0gRk1ahRGjRoFAHjqqadk90mShOXLl2PBggUYP348AGDN\nmjUwmUxYv349ZsyY0dJxScGyco9hx09fyGoDuo9ERHC0oEREpAZ6vR69e/dGcnIyHnnkEUd9+/bt\nmDBhQq3PmfVI/ffAtPbxR2Rot1rv6xbRB90i+tR6X3Db9ghu295xu6j0MsxXzqPKZoVO64bw4Gh4\nuN+cydBoNGjTqh0A4IKHucbr3Uqr0cLoIz9m3k3nDl8vI3y9jAhoE4o+0QNrfW5kaHdIQyTkXzmP\n85ey4OHucb1paRXgaIaIiJqbYvfAZGdnw2w2IykpyVHz9PREYmIi0tLS2MCQQ3neOXy87U1Ikt1R\nM3q3wQP9nxCYiojUYt68eXjiiScQFxeHhIQEvPvuu8jPz8ezzz4rOppDax9/xZzcpdFoEOQfhiD/\npj9imoioPhTbwNzYPFnbxsrc3LpPWVHDpqXq1JgZUEZu/81fYM+FHbhyr3ypR2z7EThy6Fitz1FC\n7sZg7pajxsxA0+a+m82VajNx4kRcvnwZixcvRl5eHrp3745vvvmmWa4BQ0REd0+xDcztNPXFtkid\n/L/6Crkp/8RPE++V1bsExSHEr6OgVESkRs899xyee+450TGIiKgeFNvABAYGAri+kTI0NNRRN5vN\njvtqo4ZNSzeoaaPVrRSRe/9+ZH/yHj57Jk5WDvK/B79++Pdwd9PXeIoicjcCc7ccNWYGmif33Wyu\nJCIiak6KvThGeHg4AgMDkZyc7KhVVFQgNTUVCQm8AJZLu3IFV594DB9M6Qmb281/wnp3Tzw1qvbm\nhYiIiIicg/BjlE+dun5hLrvdjpycHGRmZsLf3x9hYWGYM2cOlixZgujoaERGRmLx4sXw9fXF5MmT\nRcYmwar27MIHwwJR3Nogq08e9gKC/O8RlIqIiIiIWoLQBiY9PR1DhgwBcH1fy8KFC7Fw4UI89dRT\n+OCDDzB//nyUl5dj5syZKCwsRHx8PJKTk+Ht7X2HVyZntrl1AbIi5KfxDO39EO6LGiAoERERERG1\nFKENzKBBg2C322/7mBtNDREA/HgsBXsOfiOrRYX1wNgEHplMRERE5AoUuweGqLpzF3/Bxu9Wy2pt\nfNvhqVG/v+2VnomIiIjIebCBIVUoLb+Kf2z5M6w2i6PmrtPj6bH/Ax9DK4HJiIiIiKglKfYYZaIb\nbMeOYs1/VuFK2SVZ/bGhzyHMxOu9EBEREbkSzsCQskkStqyYhxNl52XlxJ6jEddlsKBQRERERCQK\nGxhSrowMHHj6AXwX5SkrRwR1wUP3TxcUioiIiIhEYgNDyrR0KS48OBT/jJaXW3n74Vdj5sNN5y4m\nFxEREREJxQaGlMduR+HGj/HujHhYPG5u09Jp3fD0mD+glbefwHBEREREJBIbGFKciqpK/O33SShu\nbZDVHxn4a4QHRdfxLCIiIiJyBWxgSFEkScL67e/gwuUcWT2x5xgM6DFSUCoiIiIiUgo2MKQo3//8\nLTJPp8lq3cL74OHEXwlKRERERERKwgaGFOOs+TS++P4DWS2kbQdMGzkPWq1OUCoiIiIiUhI2MKQI\neZfP4W9fLobNVuWoeegNmD56Pjz0hts8k4iIiIhcidudH0LUvHILcrDi05dQaimV1ScNnQmTX7Cg\nVERERESkRGxgSKgLl7Kx4rOXUWYpk9UH3jsW90UNEJSKiIiIiJSKDQwJc9Z8Gqs+fQnXbJWyev/u\nIzGem/aJiIiIqBZsYEiInPyTWLXxJZTDKqsn9hyDRwb+GhqNRlAyIiIiIlIyNjDU4rLzjmP15v9F\nRbXmZXCvcXjo/ulsXoiIiIioTmxgqEX9cuEI3v3y/1BprZDVh/V+GA/0f4LNCxERERHdFhsYajEn\nzx3C3/69GJYq+Z6XEXETMDp+MpsXIiIiIrojNjDUIk6cPYi/ffUqrFUWWX1U/CSM6vuYoFRERERE\npDZsYKjZncw5iL99sQhWjSSrj02YiqQ+jwpKRURERERqxAaGmtUv2Qfwty/+BKtOXn9wwFMY2vsh\nMaGIiIiISLXYwFCzyc47gXe/+BMs1ZqXhxOfxqBeD4gJRURERESqphUdgJzTWfNpvPvpy6is1rw8\ndP9TbF6IiIiIqNE4A0NNLif/FFZv/hPKJfl1Xsb2m4Ih93HZGBERERE1HhsYalI/ndiD9dtXwGqT\nnzY2Mu4xJMVNEJSKiIiIiJwFGxhqEnbJjm/3fYJtP35a475hvR/GqPjHBaQiIiIiImfDBobuWqWl\nHGuT38LPv+yrcd/w2EcwNmEqL1JJRERERE2CDQzdlQuXzuDjbcuQd/msrK7TuWHS0JmI6zJYUDIi\nIiIickZsYKhRJEnCdxv/gi0XUmHTyWdXfA1G/PqBBQgPihaUjoiIiIicFRsYurPycsBgkJWOHPo3\n9pccAqo1LyH+HfCbcS+hTat2LZmQiIiIiFwErwNDt/f224CfH5Cd7Sidu3zievNSTWz0QMyZuJTN\nCxERERE1G1U0MKtWrUJ4eDgMBgNiY2ORmpoqOpJrOHcOmD8fCAgAfH0BAOYr55F66t+yhxk8vDF9\n9P/DkyPmwkNvqO2ViIiIiIiahOIbmI0bN2LOnDl4+eWXkZmZiYSEBIwaNQrnzp0THc35/f73QGUl\n0Lcv0LYtfv7lByzb9AdYbZWOh2g1Wvx67AL0iuwvMCgRERERuQrFNzDLli3D9OnT8fTTT6Nz5854\n++23ERQUhNWrV4uO5tx+9ztY//UZTnUNxrdPD8Xbn7+Mv29ZivLKMtnDHrp/OiJDuwkKSURERESu\nRtGb+C0WC/bv34/58+fL6klJSUhLS6v1OUeyM1BprUCF5Ro0Gi28PHygd/dAlc0Ka5VDPipRAAAU\nAElEQVRF9r82exUADTz1BujdPABcvyBjpaUc5ZZrAABPvRc0AK5mn0DJj6mwtPNHVVgI9K1ao5WX\nH7wNreDupoe7zv36/7rp4aZzh7ubB65dPI9L9mu4eq0QFmslrDYLPNw84enhBa1Giwu5F2CTqnC6\n+EdYyq6iyFKC4rJCaLXXc3t5+MDg6Q0PdwNsNius5WXQ6PXQanXQaLTQ/vdLo735Z232GVRdLYLF\nXQtNu3ZoFRKB1j7+aOXtB6N3m+vf19JiWM5kwWKtgMWgR6VfK1isFSi5VoySa0XXv3T7kf/n0bC5\n6YDj39b6vY7vOhQD7x3bNP9nExEJUFhYiD/+8Y/YsWMHcnJy0LZtW4wdOxaLFy9GmzZtRMcjIqJa\nKLqBKSgogM1mQ0BAgKxuMpmQn59f63Pe+/fi5gsUAAAXgQsXgQtN+Lp5TfhaN1gAXMgBLmQ07vkh\nxjrv0mi06N1+CCJb98VPP/3UuNcXKCOjkd8TwZi75agxM9C0uSMjI5vstZQsNzcXubm5+Mtf/oKu\nXbvi/PnzeP755zFp0iRs27ZNdDwiIqqFohsYUp7WXib06zga7VqFio5CRHTXYmJi8PnnnztuR0RE\n4C9/+QvGjh2L0tJS+Pj4CExHRES1UXQD07ZtW+h0OpjNZlndbDYjKChIUCrX0sa3HTqFdkOnkG7o\nFBoD/1YBjlmX2NhYweka5san08zdMtSYW42ZgebJXVxc3GSvpTbFxcXw8PCAl5eX6ChERFQLjSRJ\nkugQtxMfH4+ePXvivffec9SioqIwYcIEvPrqqwBce6AlImpuRmPdS0qdTVFREfr06YMxY8Zg+fLl\njjrHGSKi5tPQcUbxp5DNmzcPH330Ef7xj3/g2LFjmD17NvLz8/Hss8+KjkZERAr18ssvQ6vV3vZr\nz549sueUlpbigQceQFhYGF5//XVByYmI6E4UPwMDAKtXr8brr7+OvLw8dO/eHW+++SYGDBjguJ+f\njBERNR81zsBcvnwZly9fvu1jwsLCYDBcv/huaWkpRo8eDY1Gg2+//bbG8jGOM0REzaeh44wqGhgi\nIqLmUlJSglGjRkGj0WDr1q3w9vYWHYmIiG6DDQwREbmskpISJCUloaSkBJs3b5adOubv7w93d3eB\n6YiIqDZsYIiIyGXt2rULQ4YMgUajwa3DoUajQUpKChITEwWmIyKi2rCBISIiIiIi1VD8KWT1sWrV\nKoSHh8NgMCA2NhapqamiI93W0qVL0adPHxiNRphMJowbNw5HjhwRHatBli5dCq1Wi1mzZomOckd5\neXmYNm0aTCYTDAYDYmJiapw+pDRVVVV48cUXERERAYPBgIiICLzyyiuw2Wyio8ns2bMH48aNQ2ho\nKLRaLdasWVPjMYsWLUJISAi8vLwwePBgHD16VEBSudvlrqqqwh/+8Af07NkTPj4+CA4OxpQpU3Du\n3DmBia+rz/f7hmeeeQZarRZvvPFGCyZ0XmoYZ9Q6tih9PFHLGKLUcUNN44Saxga1jAf1yXny5Ek8\n/PDD8PPzg7e3N3r37o3jx4/f9nVV38Bs3LgRc+bMwcsvv4zMzEwkJCRg1KhRivhloy67d+/GCy+8\ngL1792Lnzp1wc3PDsGHDUFhYKDpavezbtw/vv/8+evToAY1GIzrObRUVFaF///7QaDT45ptvcPz4\ncaxYsQImk0l0tNtasmQJ3nvvPbzzzjs4ceIE3nrrLaxatQpLly4VHU2mrKwMPXr0wFtvvQWDwVDj\n38Nrr72GZcuWYcWKFUhPT4fJZMLw4cNRWloqKPF1t8tdVlaGAwcO4OWXX8aBAwfw5Zdf4ty5cxg5\ncqTwXwTu9P2+4bPPPkN6ejqCg4MV/x5VA7WMM2ocW5Q+nqhpDFHquKGmcUJNY4NaxoM75czOzkb/\n/v3RsWNHpKSk4MiRI3j11Vdl+xFrJalcXFycNGPGDFktMjJSWrBggaBEDVdaWirpdDppy5YtoqPc\nUVFRkdSxY0dp165d0qBBg6RZs2aJjnRbCxYskAYMGCA6RoONHTtWeuqpp2S1J598UnrggQcEJboz\nHx8fac2aNY7bdrtdCgwMlJYsWeKolZeXS76+vtJ7770nImKtqueuzdGjRyWNRiMdPny4hVLdWV25\nz5w5I4WEhEjHjx+XOnToIL3xxhsC0jkXtY4zSh9b1DCeqGkMUcO4oaZxQk1jg1rGg9pyTpo0SZo6\ndWqDX0vVMzAWiwX79+9HUlKSrJ6UlIS0tDRBqRru6tWrsNvt8PPzEx3ljmbMmIEJEyZg4MCBsg2v\nSrV582bExcXhscceQ0BAAHr16oWVK1eKjnVHo0aNws6dO3HixAkAwNGjR5GSkoLRo0cLTlZ/2dnZ\nMJvNsvenp6cnEhMTVfX+BG5eA0Tp79GqqipMmjQJr7zyCjp37iw6jlNQ8zij9LFFDeOJmsYQNY4b\nah8nlDw2qGE8sNvt2LJlC7p06YKRI0fCZDIhLi4OmzZtuuNz3VogX7MpKCiAzWZDQECArG4ymZCf\nny8oVcPNnj0bvXr1Qr9+/URHua33338fWVlZWL9+PQAocrq/uqysLKxatQrz5s3Diy++iAMHDjjW\nWc+cOVNwuro9//zzOH/+PLp06QI3NzdUVVXh5ZdfxrPPPis6Wr3deA/W9v7Mzc0VEalRLBYLfve7\n32HcuHEIDg4WHee2Fi5cCJPJhGeeeUZ0FKeh5nFGyWOLWsYTNY0hahw31DxOKH1sUMN4cPHiRZSW\nlmLJkiVYvHgxXn/9dXz33XeYMmUKfHx8btt8q7qBcQbz5s1DWloaUlNTFfsDHABOnDiBl156Camp\nqdDpdAAASZIU+6nZDXa7HXFxcXj11VcBAD179sSpU6ewcuVKxQ0+t3r77bfx4YcfYsOGDYiJicGB\nAwcwe/ZsdOjQAb/61a9Ex7trSv63fquqqipMnToVV69exZYtW0THua1du3ZhzZo1yMzMlNWV/h6l\n5qHksUVN44maxhBnGzeU9u/2VkofG9QyHtjtdgDAQw89hDlz5gAAevTogYyMDKxYseK2DYyql5C1\nbdsWOp0OZrNZVjebzQgKChKUqv7mzp2LjRs3YufOnejQoYPoOLe1d+9eFBQUICYmBu7u7nB3d8ee\nPXuwatUq6PV6WK1W0RFrFRwcjK5du8pq0dHROHv2rKBE9fPqq6/ixRdfxMSJExETE4OpU6di3rx5\nwjdjNkRgYCAA1Pr+vHGfkt2Yfj98+DC+++47RS4RuNXu3buRl5eHoKAgx3s0JycHf/jDH3DPPfeI\njqdaahxnlD62qGk8UdMYosZxQ43jhBrGBrWMB23btoWbm1uj3mOqbmD0ej169+6N5ORkWX379u1I\nSEgQlKp+Zs+e7RhgoqKiRMe5o/Hjx+Pw4cM4ePAgDh48iMzMTMTGxmLSpEnIzMxU7NWq+/fvX+Mo\nvpMnTypyUL+VJEnQauVvT61Wq7hPT24nPDwcgYGBsvdnRUUFUlNTFf/+tFqteOyxx3D48GGkpKQo\n8sSh6p5//nkcOnRI9h4NDg7GvHnz8N1334mOp1pqG2fUMLaoaTxR0xiixnFDbeOEWsYGtYwHer0e\nffr0adR7TPVLyObNm4cnnngCcXFxSEhIwLvvvov8/HxFr/mcOXMm1q1bh82bN8NoNDrWgPr6+sLb\n21twutoZjUYYjUZZzcvLC35+fjU6ZyWZO3cuEhISsGTJEkycOBEHDhzAO++8o+hPpIDr06l//vOf\nER4ejq5du+LAgQN48803MW3aNNHRZMrKynDq1CkA16eCc3JykJmZCX9/f4SFhWHOnDlYsmQJoqOj\nERkZicWLF8PX1xeTJ09WbO7g4GBMmDABGRkZ+OqrryBJkuM92rp1a3h6eioyd1hYGNq1ayd7vLu7\nOwIDAxEZGSkirtNQyzijlrFFTeOJmsYQpY4bahon1DQ2qGU8uFPO+fPnY+LEibj//vsxePBgpKSk\nYOPGjfjyyy9v/8KNPwxNOVatWiV16NBB8vDwkGJjY6Xvv/9edKTb0mg0klarlTQajezrT3/6k+ho\nDaLUYy+r+/rrr6WePXtKnp6eUufOnaV33nlHdKQ7Ki0tlX73u99JHTp0kAwGgxQRESG99NJLUmVl\npehoMikpKY5/v7f+m54+fbrjMYsWLZKCgoIkT09PadCgQdKRI0cEJr7udrnPnDlT53v0Tkdqisxd\nGyUcm+ks1DDOqHlsUfJ4opYxRKnjhprGCTWNDWoZD+qT86OPPpKioqIkg8Eg9ezZU9qwYcMdX1cj\nSQqeWyQiIiIiIrqFqvfAEBERERGRa2EDQ0REREREqsEGhoiIiIiIVIMNDBERERERqQYbGCIiIiIi\nUg02MEREREREpBpsYIiIiIiISDXYwJBLGfT/27u3kCbfOA7g33eOzSmzJmmBx1kkiYEZSyhjake9\nscgKLTEwzC5UOgl6EYkkWkgnigpiCVHZTQURodBI6YQUjM4qbS28KA9LEDxMfP4X4vrv7zxm/9fN\n7we82PM+z54fu3i/PO/7vK8pKUhNTZW7jHE6Ojqg0WhgNptlq+Hy5cuIiorC0NCQbDUQEXk75szE\nmDM0V7iAIZ/z4sULVFRUoLe3d9wxSZIgSZIMVU2uoqICCQkJsoZefn4+BgcHce3aNdlqICLyBsyZ\n2WHO0FzhAoZ8zmTB0tjYiIaGBhmqmlhnZyfq6upQWFgoax3+/v7Iy8tDbW0thBCy1kJENJ8xZ2aH\nOUNzhQsY8lmeTo5KpRJKpVKGaiZ269YtAMDOnTtlrgTYu3cv7HY7nj59KncpRETzHnNm5pgzNBe4\ngCGfcurUKZSWlgIA9Ho9FAoFFAoFmpqaAIzfm2yz2aBQKFBTU4MrV64gJiYGgYGB2Lx5M+x2O0ZG\nRlBZWYnw8HAEBAQgMzMT3d3d4+ZtaGiA0WiEVquFVqtFeno6LBbLtGp+8OABDAYDgoKC3Np//PiB\ngwcPIiIiAv7+/li2bBkyMjLw8ePHWc3d2tqK7OxshIaGQqPRYOXKlThy5Ihbn8TERAQHB+P+/fvT\nqp2IaKFhzjBnSH7z6xIB0R/atWsX2tracOfOHZw/fx5LliwBAKxatcrVx9Pe5Lt372JwcBDFxcXo\n6enBmTNnsHv3bqSkpKC5uRllZWVob2/HxYsXcfToUdTV1bnG3r59G7m5udi6dSuqq6sxMDCA69ev\nY+PGjWhpaUFsbOyE9TqdTrS0tKCgoGDcsaysLLx//x5FRUXQ6/X4+fMnmpqa0NbWhri4uBnN/eHD\nB2zYsAFKpRIFBQWIiYmB1WrFvXv3cO7cObd5ExMT8fz58xn86kRECwdzhjlD84Ag8jFnz54VkiSJ\nb9++jTtmNBpFamqq67PVahWSJImQkBDR29vrai8vLxeSJInVq1eL4eFhV3tOTo5QqVRiYGBACCFE\nX1+f0Ol0Ij8/320eh8MhQkNDRU5OzqS1tre3C0mSxIULF8aNlyRJ1NbWTjh2JnMbjUah1WqFzWab\ntB4hhCgoKBBqtXrKfkRECxVzhjlD8uIWMiKMXlH79631devWAQD2798PPz8/t3an04nv378DGH1Y\n89evX8jOzkZXV5frb3h4GMnJyVO+rnJsm4BOp3Nr12g0UKlUMJvNcDgcHsdOd+7Ozk40NTXhwIED\niIqKmvK30Ol0GBoaQl9f35R9iYhoepgzvzFn6E9xCxkRgMjISLfPixYtAgBERER4bB872be2tgIA\ntmzZ4vF7/x1KkxH/eRBUrVajpqYGx48fx9KlS5GUlISMjAzk5uYiPDx8RnN//foVABAfHz+jWubj\na0CJiLwVc2Z8LcwZmi0uYIgwcQBM1D528h0ZGQEA1NXVISwsbMbzju2d9nT1q6SkBJmZmXj48CEa\nGxtRWVmJqqoqPHr0CEaj8Y/nnojD4YBarUZgYOCcfScR0ULHnPmNOUN/igsY8jn/5xWd5cuXAxgN\niLS0tBmPj4yMREBAAKxWq8fj0dHRKCkpQUlJCTo6OpCQkIDTp0/DaDROe+6xfu/evZtWTVar1e1h\nVCIicsec8Vwjc4b+L3wGhnzO2BWdnp6evz7X9u3bsXjxYlRVVcHpdI473tXVNel4pVKJpKQktLS0\nuLX39/ejv7/frS0sLAwhISGuf5y2bdu2Sefu7OwEMBo8RqMRN2/ehM1mc+vz3y0FAPD27VusX79+\n0rqJiBYy5swo5gzJhXdgyOcYDAYAQFlZGbKzs6FSqbBp0yaEhIQA8HwynS2tVourV69i3759WLNm\njev993a7HU+ePEF8fDxMJtOk35GZmYkTJ06gt7fXtff5y5cvSEtLw549exAXFwe1Wo3Hjx/j8+fP\nqK2tBQAEBQVNe+5Lly4hOTkZa9euxaFDh6DX62G321FfX+/a4wwAb968gcPhwI4dO+bsNyIi8jXM\nGeYMyUyu158R/U3V1dUiMjJS+Pn5CYVCIZ49eyaEECIlJcXj6y1ramrcxpvNZqFQKER9fb1bu8lk\nEgqFQrx+/dqtvbm5WaSnpwudTic0Go1YsWKFyMvLE69evZqy1q6uLqFWq4XJZHK1dXd3i6KiIhEX\nFye0Wq0ICgoSBoPBrc9M5/706ZPIysoSwcHBQqPRiNjYWHHs2DG3PqWlpSIqKmrKmomIFjrmDHOG\n5CMJMYeXCYhoVgoLC2GxWPDy5UvZahgYGEB0dDTKy8tRXFwsWx1ERDT3mDPkS/gMDNE8cPLkSVgs\nlinf5/833bhxA/7+/jh8+LBsNRAR0d/BnCFfwjswRERERETkNXgHhoiIiIiIvAYXMERERERE5DW4\ngCEiIiIiIq/BBQwREREREXkNLmCIiIiIiMhrcAFDRERERERegwsYIiIiIiLyGv8AlS+cmjcQa58A\nAAAASUVORK5CYII=\n",
       "text": [
        "<matplotlib.figure.Figure at 0x7f9391d36a20>"
       ]
      },
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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vjBE9nInXOA9MzZo1afz48TRlyhTq27cveXp6Ku5gGYdcfvrpp2ny5Mk0cuRI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\nAElFTkSuQmCC\n",
       "text": [
        "<matplotlib.figure.Figure at 0x7f9391d36128>"
       ]
      }
     ],
     "prompt_number": 21
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "Here we can see that the position estimate gets marginally better as the increment factor increases, but that the velocity estimate starts to create a large overshoot. \n",
      "\n",
      "It isn't possible for me to tell you which of these is 'correct'. You will need to test your filter's performance against real and simulated data, and choose the design that best matches the performance you need for each of the state variables."
     ]
    },
    {
     "cell_type": "heading",
     "level": 2,
     "metadata": {},
     "source": [
      "Fading Memory Filter"
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "Fading memory filters are not normally classified as an adaptive filter since they do not adapt to the the input, but they do provide good performance with manuevering targets. They also have the benefit of having a very simple computational form for first, second, and third order kinematic filters (e.g. the filters we are using in this chapter). This simple form does not require the Ricatti equations to compute the gain of the Kalman filter, which drastically reduces the amount of computation. However, there is also a form that works with the standard Kalman filter. I will focus on the latter in this chapter since our focus is more on adaptive filters. Both forms of the fading memory filter are implemented in `FilterPy`.\n",
      "\n",
      "The Kalman filter is recursive, but it incorporates all of the previous measurements into the current computation of the filter gain. If the target behavior is consistant with the process model than this allows the Kalman filter to find the optimal estimate for every measurement. Consider a ball in flight - we can clearly estimate the position of the ball at time t better if we take into account all the previous measurement. If we only used some of the measurements we would be less certain about the current position, and thus more influenced by the noise in the measurement. If this is still not clear, consider the worst case. Suppose we forget all but the last measurement and estimates. We would then have no confidence in the position and trajectory of the ball, and would have little choice but to weight the current measurement heavily. If the measurement is noisy, the estimate is noisy. We see this effect every time a Kalman filter is initialized. The early estimates are noisy, but then they settle down as more measurements are acquired.\n",
      "\n",
      "However, if the target is manuevering it is not always behaving like the process model predicts. In this case remembering all of the past measurements and estimates is a liability. We can see this in all of the charts above. The target initiates a turn, and the Kalman filter continues to project movement in a straight line. This is because the filter has built a history of the target's movement, and incorrectly 'feels' confident that the target is moving in a straight line at a given heading and velocity. \n",
      "\n",
      "The fading memory filter accounts for this problem by giving less weight to older measurements, and greater weight to the more recent measurements. \n",
      "\n",
      "There are many formulations for the fading memory Filter; I use the one provided by Dan Simon in *Optimal State Estimation* [3]. I will not go through his derivation, but only provide the results.\n",
      "\n",
      "The Kalman filter equation for the covariances of the estimation error is\n",
      "\n",
      "$$ \\mathbf{P} = \\mathbf{FPF}^\\mathtt{T} + \\mathbf{Q}$$\n",
      "\n",
      "We can force the filter to forget past measurements by multiplying a term $\\alpha$\n",
      "\n",
      "$$ \\tilde{\\mathbf{P}} = \\alpha^2\\mathbf{FPF}^\\mathtt{T} + \\mathbf{Q}$$\n",
      "\n",
      "where $\\alpha > 1.0$. If $\\alpha == 1$ then we get the normal Kalman filter performance. $\\alpha$ is an attribute of `FilterPy`s Kalman filter class; its value defaults to 1 so the filter acts like a Kalman filter unless $\\alpha$ is assigned a value other than 1. There is no hard and fast rule for choosing $\\alpha$, but it is typically very close to 1, such as 1.01. You will need to make many runs with either simulated or real data to determine a value that responds to manuevers without causing the estimate to become too noisy due to overly weighting the noisy measurement.\n",
      "\n",
      "Why does this work? If we increase the estimate error covariance the filter becomes more uncertain about it's estimate, hence it gives more weight to the measurement. \n",
      "\n",
      "One caveat - if we use $\\alpha$ than we are computing $\\tilde{\\mathbf{P}}$, not $\\mathbf{P}$. In other words, `KalmanFilter.P` *is not* equal to the covariance of the estimation error, so do not treat it as if it is.\n",
      "\n",
      "Let's filter our data using the fading memory filter and see the result. I will inject a lot of error into the system so that we can compare various approaches."
     ]
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "# reinitialize filter\n",
      "\n",
      "pos2, zs2 = generate_data(70, noise_factor=1.2)\n",
      "xs2 = pos2[:,0]\n",
      "z_xs2 = zs2[:,0]\n",
      "\n",
      "\n",
      "cvfilter.x = array([0., 0.])\n",
      "cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=0.02)\n",
      "cvfilter.alpha = 1.00\n",
      "\n",
      "xs = []\n",
      "res = []\n",
      "for z in z_xs2:\n",
      "    cvfilter.predict()\n",
      "    cvfilter.update([z])\n",
      "    xs.append(cvfilter.x[0])\n",
      "    res.append(cvfilter.y[0])\n",
      "xs = np.asarray(xs)\n",
      "plt.subplot(221)\n",
      "bp.plot_measurements(t[0:100], z_xs2, label='z')\n",
      "plt.plot(t[0:100], xs, label='filter')\n",
      "plt.legend(loc=2)\n",
      "plt.title('Standard Kalman Filter')\n",
      "\n",
      "cvfilter.x = array([0., 0.])\n",
      "cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=20.)\n",
      "cvfilter.alpha = 1.00\n",
      "\n",
      "xs = []\n",
      "res = []\n",
      "for z in z_xs2:\n",
      "    cvfilter.predict()\n",
      "    cvfilter.update([z])\n",
      "    xs.append(cvfilter.x[0])\n",
      "    res.append(cvfilter.y[0])\n",
      "    \n",
      "xs = np.asarray(xs)\n",
      "\n",
      "plt.subplot(222)\n",
      "bp.plot_measurements(t[0:100], z_xs2, label='z')\n",
      "plt.plot(t[0:100], xs, label='filter')\n",
      "plt.legend(loc=2)\n",
      "plt.title('$\\\\mathbf{Q}=20$')\n",
      "\n",
      "\n",
      "cvfilter.x = array([0., 0.])\n",
      "cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=0.02)\n",
      "cvfilter.alpha = 1.02\n",
      "\n",
      "xs = []\n",
      "res = []\n",
      "for z in z_xs2:\n",
      "    cvfilter.predict()\n",
      "    cvfilter.update([z])\n",
      "    xs.append(cvfilter.x[0])\n",
      "    res.append(cvfilter.y[0])\n",
      "xs = np.asarray(xs)\n",
      "plt.subplot(223)\n",
      "bp.plot_measurements(t[0:100], z_xs2, label='z')\n",
      "plt.plot(t[0:100], xs, label='filter')\n",
      "plt.legend(loc=2)\n",
      "plt.title('Fading Memory ($\\\\alpha$ = 1.02)')\n",
      "\n",
      "cvfilter.x = array([0., 0.])\n",
      "cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=0.02)\n",
      "cvfilter.alpha = 1.05\n",
      "\n",
      "xs = []\n",
      "res = []\n",
      "for z in z_xs2:\n",
      "    cvfilter.predict()\n",
      "    cvfilter.update([z])\n",
      "    xs.append(cvfilter.x[0])\n",
      "    res.append(cvfilter.y[0])\n",
      "xs = np.asarray(xs)\n",
      "plt.subplot(224)\n",
      "bp.plot_measurements(t[0:100], z_xs2, label='z')\n",
      "plt.plot(t[0:100], xs, label='filter')\n",
      "plt.legend(loc=2)\n",
      "plt.title('Fading Memory ($\\\\alpha$ = 1.05)')\n",
      "\n",
      "plt.show()"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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Esr7+Wv9v//5gYwOhoVC5sv4KBcAHHyQ2fRqhGDwPfthjvBuvpvCdD9jb5s5A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\nUWaSSAghhBBCCCHK7P/wHBm3RjOfUwAAAABJRU5ErkJggg==\n",
       "text": [
        "<matplotlib.figure.Figure at 0x7f939994ff60>"
       ]
      }
     ],
     "prompt_number": 22
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "The first plot shows the performance of the Kalman filter. The filter diverges when the manuever starts and does not reacquire the signal until about 10 seconds. I then made the filter track the manuever very quickly by making the process noise large, but this has the cost of making the filter estimate very noisy due to unduly weighting the noisy measurements. I then implemented a fading memory filter with $\\alpha=1.02$. The filtered estimate is very smooth, but it does take a few seconds to converge when the target regains steady state behavior. However, the time to do so is considerably smaller than for the Kalman filter, and the amount of lag is much smaller - the estimate for the fading memory is much closer to the actual track than the Kalman filter's track is. Finally, I bumped up $\\alpha$ to 1.05. Here we can see that the filter responds almost instantly to the manuever, but that the estimate is not as straight during the steady state operation because the filter is forgetting the past measurements. \n",
      "\n",
      "This is quite good performance for such a small change in code! Note that there is no 'correct' choice here. You will need to design your filter based on your needs and the characteristics of the measurement noise, process noise, and manuevering behavior of the target."
     ]
    },
    {
     "cell_type": "heading",
     "level": 2,
     "metadata": {},
     "source": [
      "Noise Level Switching"
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "To be written"
     ]
    },
    {
     "cell_type": "heading",
     "level": 2,
     "metadata": {},
     "source": [
      "Variable State Dimension"
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "To be written - vary state order based on whether a manuever is happening."
     ]
    },
    {
     "cell_type": "heading",
     "level": 2,
     "metadata": {},
     "source": [
      "Multiple Model Estimation"
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "The example I have been using in this chapter entails a target moving in a steady state, performing a manuever, and then returning to a steate state. We have been thinking of this as two models - a constant velocity model, and a constant acceleration model. Whenever you can describe the system as obeying one of a finite set of models you can use *Multiple Model (MM) Estimation*. This means what it sounds like. We use a bank multiple filters, each using a different process to describe the system, and either switch between them or blend them based on the dynamics of the tracked object. \n",
      "\n",
      "As you might imagine this is a broad topic, and there are many ways of designing and implementing MM estimators. But consider a simple approach for the target we have been tracking in this chapter. One idea would be to simultaneously run a constant velocity and a constant acceleration filter, and to switch between their outputs when we detect a manuever by inspecting the residuals. Even this choice gives us many options. Consider the dynamics of a turning object. For example, an automobile turns on a wheelbase - the front wheels turn, and the car pivots around the rear wheels. This is a nonlinear process, so for best results we would want to use some type of nonlinear filter (EKF, UKF, etc) to model the turns. On the other hand, a linear constant velocity filter would perform fine for the steady state portions of the travel. So our bank of filters might consist of a linear KF and an EKF filter for the turns. However, neither is particularly well suited for modelling behaviors such as accelerating and braking. So a highly performing MM estimator might contain a bank of many filters, each designed to perform best for a certain performance envelope of the tracked object.\n",
      "\n",
      "Of course, you do not need to just base your filters on the order of the model. You can use different noise models, different adapters in each. For example, in the section above I showed many plots depicting the effects of changing parameters on the estimate of the velocity and position. Perhaps one setting works better for position, and a different setting for velocity. Put both in your bank of filters. You could then take the best estimates for the position from one filter, and the best estimate for the velocity from a different filter.\n",
      "\n",
      "I trust the idea of switching between filters to get the best performance is clear, but what mathematical foundations should we use to implement it? The problem that we face is trying to detect via noisy meaurements when a change in regime should result in a change in model. \n",
      "\n"
     ]
    },
    {
     "cell_type": "heading",
     "level": 2,
     "metadata": {},
     "source": [
      "References"
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "* [1] Bar-Shalom, Yaakov, Xiao-Rong Li, and Thiagalingam Kirubarajan. *Estimation with Applications to Tracking and Navigation*. New York: Wiley, p. 424, 2001. \n",
      "\n",
      "* [2] Zarchan, Paul, and Howard Musoff. *Fundamentals of Kalman Filtering: A Practical Approach*. Reston, VA: American Institute of Aeronautics and Astronautics, 2000. Print.\n",
      "\n",
      "* [3] Simon, Dan. Optimal State Estimation: Kalman, H and Nonlinear Approaches. Hoboken, NJ: Wiley-Interscience, p. 208-212, 2006"
     ]
    }
   ],
   "metadata": {}
  }
 ]
}