diff --git a/08-Designing-Kalman-Filters.ipynb b/08-Designing-Kalman-Filters.ipynb index 9b0bf56..4d0f826 100644 --- a/08-Designing-Kalman-Filters.ipynb +++ b/08-Designing-Kalman-Filters.ipynb @@ -339,7 +339,9 @@ { "cell_type": "code", "execution_count": 2, - "metadata": {}, + "metadata": { + "collapsed": true + }, "outputs": [], "source": [ "from numpy.random import randn\n", @@ -456,7 +458,9 @@ { "cell_type": "code", "execution_count": 4, - "metadata": {}, + "metadata": { + "collapsed": true + }, "outputs": [], "source": [ "from filterpy.kalman import KalmanFilter\n", @@ -583,7 +587,9 @@ { "cell_type": "code", "execution_count": 7, - "metadata": {}, + "metadata": { + "collapsed": true + }, "outputs": [], "source": [ "tracker.H = np.array([[1/0.3048, 0, 0, 0],\n", @@ -649,7 +655,9 @@ { "cell_type": "code", "execution_count": 9, - "metadata": {}, + "metadata": { + "collapsed": true + }, "outputs": [], "source": [ "tracker.x = np.array([[0, 0, 0, 0]]).T\n", @@ -980,7 +988,9 @@ { "cell_type": "code", "execution_count": 15, - "metadata": {}, + "metadata": { + "collapsed": true + }, "outputs": [], "source": [ "def ZeroOrderKF(R, Q, P=20):\n", @@ -1042,7 +1052,9 @@ { "cell_type": "code", "execution_count": 16, - "metadata": {}, + "metadata": { + "collapsed": true + }, "outputs": [], "source": [ "def FirstOrderKF(R, Q, dt):\n", @@ -1106,7 +1118,9 @@ { "cell_type": "code", "execution_count": 17, - "metadata": {}, + "metadata": { + "collapsed": true + }, "outputs": [], "source": [ "def SecondOrderKF(R_std, Q, dt, P=100):\n", @@ -1148,7 +1162,9 @@ { "cell_type": "code", "execution_count": 18, - "metadata": {}, + "metadata": { + "collapsed": true + }, "outputs": [], "source": [ "def simulate_system(Q, count):\n", @@ -1172,7 +1188,9 @@ { "cell_type": "code", "execution_count": 19, - "metadata": {}, + "metadata": { + "collapsed": true + }, "outputs": [], "source": [ "def filter_data(kf, zs):\n", @@ -1231,7 +1249,9 @@ { "cell_type": "code", "execution_count": 21, - "metadata": {}, + "metadata": { + "collapsed": true + }, "outputs": [], "source": [ "def plot_residuals(xs, filter_xs, Ps, title, y_label, stds=1):\n", @@ -2110,9 +2130,9 @@ }, { "data": { - "image/png": "iVBORw0KGgoAAAANSUhEUgAAAncAAAEmCAYAAAAA8LatAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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\n", + "image/png": "iVBORw0KGgoAAAANSUhEUgAAAnYAAAEfCAYAAADMR4v2AAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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\nAElFTkSuQmCC\n", "text/plain": [ - "" + "" ] }, "metadata": {}, @@ -2120,7 +2140,7 @@ } ], "source": [ - "dt = 0.1\n", + "dt = 1.\n", "R = 3.\n", "kf = KalmanFilter(dim_x=2, dim_z=1, dim_u = 1)\n", "kf.P *= 10\n", @@ -2935,7 +2955,9 @@ { "cell_type": "code", "execution_count": 52, - "metadata": {}, + "metadata": { + "collapsed": true + }, "outputs": [], "source": [ "from math import radians, sin, cos\n", @@ -3228,7 +3250,9 @@ { "cell_type": "code", "execution_count": 54, - "metadata": {}, + "metadata": { + "collapsed": true + }, "outputs": [], "source": [ "from math import sin,cos,radians\n", @@ -3463,7 +3487,9 @@ { "cell_type": "code", "execution_count": 57, - "metadata": {}, + "metadata": { + "collapsed": true + }, "outputs": [], "source": [ "from math import radians, sin, cos, sqrt, exp\n", @@ -3739,7 +3765,11 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.5.3" + "version": "3.5.2" + }, + "widgets": { + "state": {}, + "version": "1.1.2" } }, "nbformat": 4, diff --git a/10-Unscented-Kalman-Filter.ipynb b/10-Unscented-Kalman-Filter.ipynb index ecd34e1..fceec66 100644 --- a/10-Unscented-Kalman-Filter.ipynb +++ b/10-Unscented-Kalman-Filter.ipynb @@ -590,7 +590,7 @@ "\n", "$$\\boldsymbol{\\mathcal{Y}} = f(\\boldsymbol{\\chi})$$\n", "\n", - "It then compute the mean and covariance of the transformed points. That mean and covariance becomes the new estimate. The figure below depicts the operation of the unscented transform. The green ellipse on the right represents the computed mean and covariance to the transformed sigma points. " + "It then computes the mean and covariance of the transformed points. That mean and covariance becomes the new estimate. The figure below depicts the operation of the unscented transform. The green ellipse on the right represents the computed mean and covariance to the transformed sigma points. " ] }, {