Got basic tracking working with 'magic numbers' for initial pos,vel,acc.
This commit is contained in:
Roger Labbe committed
1 parent
bd637860b7
commit
394f0a2570
1 file changed
+224
-31
+224
-31
@@ -1,7 +1,7 @@
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{
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"metadata": {
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"signature": "sha256:9253d1b89f39ca3b6e9087392e93410a4b889d4de3c48de04660d0c028948c29"
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"nbformat": 3,
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"nbformat_minor": 0,
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@@ -1378,53 +1378,70 @@
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"cell_type": "code",
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"collapsed": false,
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"input": [
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"f1 = KalmanFilter(dim=5)\n",
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"dt = 0.1\n",
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"g = 9.8\n",
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"def ball_filter(dt):\n",
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" f1 = KalmanFilter(dim=5)\n",
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" g = 9.8\n",
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"\n",
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"f1.F = np.mat ([[1, dt, 0, 0, 0],\n",
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" [0, 1, 0, 0, 0],\n",
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" [0, 0, 1, dt, dt*dt*g],\n",
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" [0, 0, 0, 1, dt],\n",
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" [0, 0, 0, 0, 1]])\n",
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" f1.F = np.mat ([[1., dt, 0, 0, 0],\n",
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" [0, 1., 0, 0, 0],\n",
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" [0, 0, 1., dt, -dt*dt*g],\n",
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" [0, 0, 0, 1., dt],\n",
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" [0, 0, 0, 0, 1.]])\n",
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"\n",
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"f1.H = np.mat([[1,0,0,0,0],\n",
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" [0,0,0,0,0],\n",
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" [1,0,1,0,0],\n",
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" [0,0,0,0,0],\n",
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" [0,0,0,0,0]])\n",
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"f1.B = 0.\n",
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" f1.H = np.mat([[1,0,0,0,0],\n",
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" [0,0,0,0,0],\n",
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" [0,0,1,0,0],\n",
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" [0,0,0,0,0],\n",
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" [0,0,0,0,0]])\n",
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"\n",
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"f1.R = np.eye(5) * 1.\n",
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"f1.Q = np.zeros((5,5))\n",
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"f1.Q[4,4] = 0.1\n",
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"f1.x = np.mat([0,0,0,0,0]).T\n",
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"f1.P = np.eye(5) * 5.\n",
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"f1.u = np.mat([0,0,0,0,0]).T\n",
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"\n"
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"\n",
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" f1.R = np.eye(5) * 1.\n",
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" f1.Q = np.zeros((5,5))\n",
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" f1.Q[4,4] = 0.1\n",
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" f1.x = np.mat([0, 21.2 , 0, 20.7, -9.8]).T\n",
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" f1.P = np.eye(5) * 5.\n",
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" f1.B = 0.\n",
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" f1.u = 0\n",
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" \n",
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" return f1"
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],
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"language": "python",
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"metadata": {},
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"outputs": [],
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"prompt_number": 73
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"prompt_number": 170
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},
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{
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"cell_type": "code",
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"collapsed": false,
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"input": [
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"dt = 0.1\n",
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"f1 = ball_filter(dt)\n",
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"# initialize storage and other variables for the run\n",
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"count = 30\n",
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"xs, ys = [],[]\n",
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"pxs, pys = [],[]\n",
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"\n",
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"traj = BallTrajectory2D (30., angle_degrees=45.)\n",
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"\n",
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"for t in np.arange(0,0.4,dt):\n",
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"traj = BallTrajectory2D (30., angle_degrees=45., noise_scale=0.3)\n",
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"traj.update(0)\n",
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"x,y= (traj.x,traj.y)\n",
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"traj.update(dt)\n",
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"print (f1.x)\n",
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"print (traj.x - x, traj.y - y)\n",
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"log = True\n",
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"#print (f1.F*f1.x)\n",
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"for t in np.arange(dt,5,dt):\n",
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" traj.update(t)\n",
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" z = np.mat([traj.x, 0, traj.y, 0,0]).T\n",
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" if log: print (traj.x, traj.y)\n",
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"\n",
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" f1.predict ()\n",
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" if log: print (f1.x.T)\n",
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" \n",
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" #f1.x[4]=-9.8\n",
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" \n",
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" f1.update (z)\n",
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" if log: print (f1.x.T)\n",
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"\n",
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"\n",
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" xs.append (f1.x[0,0])\n",
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" ys.append (f1.x[2,0])\n",
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@@ -1439,16 +1456,189 @@
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"language": "python",
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"metadata": {},
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"outputs": [
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{
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"[[ 0. ]\n",
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" [ 21.2]\n",
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||||
"[[ 103.81503627 21.16119384 -13.7139089 -36.70438668 -9.73144158]]\n",
|
||||
"[[ 103.84483694 21.17036668 -13.75253945 -36.80629632 -9.7676127 ]]\n"
|
||||
]
|
||||
},
|
||||
{
|
||||
"metadata": {},
|
||||
"output_type": "display_data",
|
||||
"png": 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truncated
|
||||
"png": 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truncated
|
||||
"text": [
|
||||
"<matplotlib.figure.Figure at 0x3b554d0>"
|
||||
"<matplotlib.figure.Figure at 0x46b2a50>"
|
||||
]
|
||||
}
|
||||
],
|
||||
"prompt_number": 76
|
||||
"prompt_number": 177
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
@@ -1462,10 +1652,13 @@
|
||||
{
|
||||
"cell_type": "code",
|
||||
"collapsed": false,
|
||||
"input": [],
|
||||
"input": [
|
||||
"%run?"
|
||||
],
|
||||
"language": "python",
|
||||
"metadata": {},
|
||||
"outputs": []
|
||||
"outputs": [],
|
||||
"prompt_number": 166
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
|
||||
Reference in new issue
Block a user