From 7d7d824724be26a18b21b683c9b3500ce365d94f Mon Sep 17 00:00:00 2001 From: "Fabien C. Y. Benureau" Date: Fri, 27 Oct 2017 18:31:08 +0200 Subject: [PATCH 1/2] 00-Preface.ipynb: missing space --- 00-Preface.ipynb | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/00-Preface.ipynb b/00-Preface.ipynb index 979b0e9..0339325 100644 --- a/00-Preface.ipynb +++ b/00-Preface.ipynb @@ -359,7 +359,7 @@ "\n", "As I began to understand the math and theory more difficulties appeared. A book or paper will make some statement of fact and presents a graph as proof. Unfortunately, why the statement is true is not clear to me, or I cannot reproduce the plot. Or maybe I wonder \"is this true if R=0?\" Or the author provides pseudocode at such a high level that the implementation is not obvious. Some books offer Matlab code, but I do not have a license to that expensive package. Finally, many books end each chapter with many useful exercises. Exercises which you need to understand if you want to implement Kalman filters for yourself, but exercises with no answers. If you are using the book in a classroom, perhaps this is okay, but it is terrible for the independent reader. I loathe that an author withholds information from me, presumably to avoid 'cheating' by the student in the classroom.\n", "\n", - "All of this impedes learning.I want to track an image on a screen, or write some code for my Arduino project. I want to know how the plots in the book are made, and to choose different parameters than the author chose. I want to run simulations. I want to inject more noise into the signal and see how a filter performs. There are thousands of opportunities for using Kalman filters in everyday code, and yet this fairly straightforward topic is the provenance of rocket scientists and academics.\n", + "All of this impedes learning. I want to track an image on a screen, or write some code for my Arduino project. I want to know how the plots in the book are made, and to choose different parameters than the author chose. I want to run simulations. I want to inject more noise into the signal and see how a filter performs. There are thousands of opportunities for using Kalman filters in everyday code, and yet this fairly straightforward topic is the provenance of rocket scientists and academics.\n", "\n", "I wrote this book to address all of those needs. This is not the sole book for you if you design military radars. Go get a Masters or PhD at a great STEM school, because you'll need it. This book is for the hobbyist, the curious, and the working engineer that needs to filter or smooth data. If you are a hobbyist this book should provide everything you need. If you are serious about Kalman filters you'll need more. My intention is to introduce enough of the concepts and mathematics to make the textbooks and papers approachable.\n", "\n", From dc9328d7f593d73e677708871d0544c66932e3db Mon Sep 17 00:00:00 2001 From: "Fabien C. Y. Benureau" Date: Fri, 27 Oct 2017 18:56:06 +0200 Subject: [PATCH 2/2] swapped space --- 00-Preface.ipynb | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/00-Preface.ipynb b/00-Preface.ipynb index 0339325..8d482c4 100644 --- a/00-Preface.ipynb +++ b/00-Preface.ipynb @@ -514,7 +514,7 @@ "cell_type": "markdown", "metadata": {}, "source": [ - "Most Kalman filtering and other engineering texts are written by mathematicians or academics. When there is software(rarely) , it is not production quality. Take Paul Zarchan's book *Fundamentals of Kalman Filtering* as an example. This is a fantastic book and it belongs in your library, and is one of the few books that provides full source for every example and chart. But the code is Fortran without any subroutines beyond calls to functions like `MATMUL`. Kalman filters are re-implemented throughout the book. The same listing mixes simulation with filtering code, making it hard to distinguish them. Some chapters implement the same filter in subtly different ways, and uses bold text to highlight the few lines that changed. If Runge Kutta is needed it is embedded in the code, without comments. \n", + "Most Kalman filtering and other engineering texts are written by mathematicians or academics. When there is software (rarely), it is not production quality. Take Paul Zarchan's book *Fundamentals of Kalman Filtering* as an example. This is a fantastic book and it belongs in your library, and is one of the few books that provides full source for every example and chart. But the code is Fortran without any subroutines beyond calls to functions like `MATMUL`. Kalman filters are re-implemented throughout the book. The same listing mixes simulation with filtering code, making it hard to distinguish them. Some chapters implement the same filter in subtly different ways, and uses bold text to highlight the few lines that changed. If Runge Kutta is needed it is embedded in the code, without comments. \n", "\n", "There's a better way. If I want to perform Runge Kutta I call `ode45`, I do not embed an Runge Kutta implementation in my code. I don't want to implement Runge Kutta multiple times and debug it several times. if I do find a bug, I can fix it once and be assured that it now works across all my different projects. And, it is readable. It is rare that I care about the implementation of Runge Kutta.\n", "\n",