daviddoji/Kalman-and-Bayesian-Filters-in-Python
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Removed some authorial comments to myself.

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Roger Labbe 2014-05-16 17:10:23 -07:00
parent d2a57c4d12
commit cc0f081c0e
2 changed files with 1216 additions and 1225 deletions
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2428
Multidimensional_Kalman_Filters.ipynb
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13
mkf_internal.py
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@ -18,23 +18,24 @@ def show_residual_chart():
ax = plt.axes()
ax.annotate('', xy=(2,2), xytext=(1,1),
arrowprops=dict(arrowstyle='->', ec='b',shrinkA=3, shrinkB=4))
ax.annotate('prediction', xy=(1.7,2), color='b')
ax.annotate('prediction', xy=(2.04,2.), color='b')
ax.annotate('measurement', xy=(2.05, 1.28))
ax.annotate('prior measurement', xy=(1, 0.9))
ax.annotate('residual', xy=(2.04,1.6), color='r')
ax.annotate('new estimate', xy=(2,1.8),xytext=(2.15,1.9),
arrowprops=dict(arrowstyle='->', shrinkA=3, shrinkB=4))
ax.annotate('new estimate', xy=(2,1.8),xytext=(2.1,1.8),
arrowprops=dict(arrowstyle='->', ec="k", shrinkA=3, shrinkB=4))
ax.annotate('', xy=(2,2), xytext=(2,1.3),
arrowprops=dict(arrowstyle="<->",
arrowprops=dict(arrowstyle="-",
ec="r",
shrinkA=5, shrinkB=5))
plt.title("Kalman Filter Prediction Update Step")
plt.show()
def show_position_chart():
""" Displays 3 measurements at t=1,2,3, with x=1,2,3"""
plt.scatter ([1,2,3],[1,2,3])
plt.scatter ([1,2,3], [1,2,3], s=128)
plt.xlim([0,4]);
plt.ylim([0,4])
@ -48,7 +49,7 @@ def show_position_chart():
def show_position_prediction_chart():
""" displays 3 measurements, with the next position predicted"""
plt.scatter ([1,2,3],[1,2,3],s=128)
plt.scatter ([1,2,3], [1,2,3], s=128)
plt.xlim([0,5])
plt.ylim([0,5])