daviddoji/Kalman-and-Bayesian-Filters-in-Python
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Edit to fit on 6x9 book.

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Somewhat arbitrary, but I want the code to be readable on
narrow paper than 8.5x11.
This commit is contained in:
Roger Labbe
2015-07-25 23:46:59 -07:00
parent 82f4e1569b
commit 925498a19e
21 changed files with 1445 additions and 1533 deletions
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46
code/mkf_internal.py
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@@ -13,6 +13,50 @@ from matplotlib import cm
from mpl_toolkits.mplot3d import Axes3D
from numpy.random import multivariate_normal
def zs_var_240():
return [3.59, 1.73, -2.575, 4.38, 9.71, 2.88, 10.08,
8.97, 3.74, 12.81, 11.15, 9.25, 3.93, 11.11,
19.29, 16.20, 19.63, 9.54, 26.27, 23.29, 25.18,
26.21, 17.1, 25.27, 26.86,33.70, 25.92, 28.82,
32.13, 25.0, 38.56, 26.97, 22.49, 40.77, 32.95,
38.20, 40.93, 39.42, 35.49, 36.31, 31.56, 50.29,
40.20, 54.49, 50.38, 42.79, 37.89, 56.69, 41.47, 53.66]
def zs_var_375():
return [-6.947, 12.467, 6.899, 2.643, 6.980, 5.820, 5.788, 10.614, 5.210,
14.338, 11.401, 19.138, 14.169, 19.572, 25.471, 13.099, 27.090,
12.209, 14.274, 21.302, 14.678, 28.655, 15.914, 28.506, 23.181,
18.981, 28.197, 39.412, 27.640, 31.465, 34.903, 28.420, 33.889,
46.123, 31.355, 30.473, 49.861, 41.310, 42.526, 38.183, 41.383,
41.919, 52.372, 42.048, 48.522, 44.681, 32.989, 37.288, 49.141,
54.235, 62.974, 61.742, 54.863, 52.831, 61.122, 61.187, 58.441,
47.769, 56.855, 53.693, 61.534, 70.665, 60.355, 65.095, 63.386]
def plot_track_ellipses(N, zs, ps, cov, title):
bp.plot_measurements(range(1,N + 1), zs)
plt.plot(range(1, N + 1), ps, c='b', lw=2, label='filter')
plt.legend(loc='best')
plt.title(title)
for i,p in enumerate(cov):
plot_covariance_ellipse(
(i+1, ps[i]), cov=p, variance=4,
axis_equal=False, ec='g', alpha=0.5)
if i == len(cov)-1:
s = ('$\sigma^2_{pos} = %.2f$' % p[0,0])
plt.text (20, 5, s, fontsize=18)
s = ('$\sigma^2_{vel} = %.2f$' % p[1, 1])
plt.text (20, 0, s, fontsize=18)
plt.xlim(-10, 80)
plt.gca().set_aspect('equal')
plt.show()
def show_residual_chart():
est_y = ((164.2-158)*.8 + 158)
@@ -23,7 +67,7 @@ def show_residual_chart():
ax.annotate('', xy=[1,159], xytext=[1,164.2],
arrowprops=dict(arrowstyle='-',
ec='k', lw=1, shrinkA=8, shrinkB=8))
ec='k', lw=3, shrinkA=8, shrinkB=8))
ax.annotate('', xy=(1., est_y), xytext=(0.9, est_y),
arrowprops=dict(arrowstyle='->', ec='#004080',