daviddoji/Kalman-and-Bayesian-Filters-in-Python
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This commit is contained in:
Roger Labbe
2016-01-30 08:29:22 -08:00
parent ac2c27119b
commit 57dda86f18
7 changed files with 261 additions and 413 deletions
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code/ukf_internal.py
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@@ -258,7 +258,7 @@ def plot_sigma_points():
plot_covariance_ellipse(x, P, facecolor='g', alpha=0.2, variance=[1, 4])
plt.title('alpha=1')
plt.show()
print(sum(Wc0))
def plot_radar(xs, t, plot_x=True, plot_vel=True, plot_alt=True):
xs = np.asarray(xs)
@@ -267,16 +267,19 @@ def plot_radar(xs, t, plot_x=True, plot_vel=True, plot_alt=True):
plt.plot(t, xs[:, 0]/1000.)
plt.xlabel('time(sec)')
plt.ylabel('position(km)')
plt.tight_layout()
if plot_vel:
plt.figure()
plt.plot(t, xs[:, 1])
plt.xlabel('time(sec)')
plt.ylabel('velocity')
plt.tight_layout()
if plot_alt:
plt.figure()
plt.plot(t, xs[:,2])
plt.xlabel('time(sec)')
plt.ylabel('altitude')
plt.tight_layout()
plt.show()