diff --git a/11_Designing_Nonlinear_Kalman_Filters/Designing_Nonlinear_Kalman_Filters.ipynb b/11_Designing_Nonlinear_Kalman_Filters/Designing_Nonlinear_Kalman_Filters.ipynb index e47edb9..3d22231 100644 --- a/11_Designing_Nonlinear_Kalman_Filters/Designing_Nonlinear_Kalman_Filters.ipynb +++ b/11_Designing_Nonlinear_Kalman_Filters/Designing_Nonlinear_Kalman_Filters.ipynb @@ -1,7 +1,7 @@ { "metadata": { "name": "", - "signature": "sha256:cd758a1ca3157c15f8cb0a9161fe3c9e5fe8a7522243d185ae67fa44bdbd4dc6" + "signature": "sha256:33a7a44dc4488b0b4ba93e74480b2d2d6f2db305a040407e469194f4c08082cf" }, "nbformat": 3, "nbformat_minor": 0, @@ -32,7 +32,7 @@ "from __future__ import division, print_function\n", "import matplotlib.pyplot as plt\n", "import sys\n", - "sys.path.insert(0,'../code') # allow us to format the book\n", + "sys.path.insert(0, '../code') # allow us to format the book\n", "import book_format\n", "book_format.load_style()" ], @@ -261,7 +261,7 @@ "output_type": "pyout", "prompt_number": 1, "text": [ - "" + "" ] } ], @@ -377,21 +377,22 @@ "cell_type": "code", "collapsed": false, "input": [ - "circle1=plt.Circle((-4,0),5,color='#004080',fill=False,linewidth=20, alpha=.7)\n", - "circle2=plt.Circle((4,0),5,color='#E24A33', fill=False, linewidth=5, alpha=.7)\n", + "circle1=plt.Circle((-4, 0), 5, color='#004080', \n", + " fill=False, linewidth=20, alpha=.7)\n", + "circle2=plt.Circle((4, 0), 5, color='#E24A33', \n", + " fill=False, linewidth=5, alpha=.7)\n", "\n", "fig = plt.gcf()\n", "ax = fig.gca()\n", "\n", "plt.axis('equal')\n", - "plt.xlim((-10,10))\n", - "plt.ylim((-10,10))\n", + "plt.xlim((-10, 10))\n", + "plt.ylim((-10, 10))\n", "\n", - "plt.plot ([-4,0], [0,3], c='#004080')\n", - "plt.plot ([4,0], [0,3], c='#E24A33')\n", + "plt.plot ([-4, 0], [0, 3], c='#004080')\n", + "plt.plot ([4, 0], [0, 3], c='#E24A33')\n", "plt.text(-4, -.5, \"A\", fontsize=16, horizontalalignment='center')\n", "plt.text(4, -.5, \"B\", fontsize=16, horizontalalignment='center')\n", - "#plt.scatter ([-4],[0], 'r')\n", "\n", "ax.add_artist(circle1)\n", "ax.add_artist(circle2)\n", @@ -403,9 +404,9 @@ { "metadata": {}, "output_type": "display_data", - "png": 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TCeymu8DyCmWP8dHh0D6B4fAO5yFyFD2pYMQXwL+/cgyDI37VX2tpaQYFwoRo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BCf/3tdPo6hsG5zzYmP9Klex5zGoDu+uTYPGJqs+JECIeYwxs821gcwvlD/p8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\n02AJqZYPjExCybCNWJscguceSrL4dY/lN+LfP87DzX7awpk4nuqWXvz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"text": [ - "" + "" ] } ], @@ -693,7 +694,7 @@ "input": [ "from math import sin, cos, atan2\n", "\n", - "def H_of (pos, pos_A, pos_B):\n", + "def H_of(pos, pos_A, pos_B):\n", " \"\"\" Given the position of our object at 'pos' in 2D, and two \n", " transmitters A and B at positions 'pos_A' and 'pos_B', return \n", " the partial derivative of H\n", @@ -729,7 +730,7 @@ " self.B = pos_b\n", " self.noise_factor = noise_factor\n", " \n", - " def range_of (self, pos):\n", + " def range_of(self, pos):\n", " \"\"\" returns tuple containing noisy range data to A and B\n", " given a position 'pos'\n", " \"\"\"\n", @@ -761,7 +762,7 @@ "from filterpy.kalman import KalmanFilter\n", "import numpy as np\n", "\n", - "pos_a = (100,-20)\n", + "pos_a = (100, -20)\n", "pos_b = (-100, -20)\n", "\n", "f1 = KalmanFilter(dim_x=4, dim_z=2)\n", @@ -774,16 +775,16 @@ "f1.R *= 1.\n", "f1.Q *= .1\n", "\n", - "f1.x = np.array([[1,0,1,0]], dtype=float).T\n", + "f1.x = np.array([[1, 0, 1, 0]], dtype=float).T\n", "f1.P = np.eye(4) * 5.\n", "\n", "# initialize storage and other variables for the run\n", "count = 30\n", - "xs, ys = [],[]\n", - "pxs, pys = [],[]\n", + "xs, ys = [], []\n", + "pxs, pys = [], []\n", "\n", "# create the simulated sensor\n", - "d = DMESensor (pos_a, pos_b, noise_factor=3.)\n", + "d = DMESensor(pos_a, pos_b, noise_factor=3.)\n", "\n", "# pos will contain our nominal position since the filter does not\n", "# maintain position.\n", @@ -791,31 +792,31 @@ "\n", "for i in range(count):\n", " # move (1,1) each step, so just use i\n", - " pos = [i,i]\n", + " pos = [i, i]\n", " \n", " # compute the difference in range between the nominal track\n", " # and measured ranges\n", " ra,rb = d.range_of(pos)\n", - " rx,ry = d.range_of((pos[0]+f1.x[0,0], pos[1]+f1.x[2,0]))\n", - " z = np.array([[ra-rx],[rb-ry]])\n", + " rx,ry = d.range_of((pos[0] + f1.x[0, 0], pos[1] + f1.x[2, 0]))\n", + " z = np.array([[ra-rx], [rb-ry]])\n", "\n", " # compute linearized H for this time step\n", " f1.H = H_of (pos, pos_a, pos_b)\n", "\n", " # store stuff so we can plot it later\n", - " xs.append (f1.x[0,0]+i)\n", - " ys.append (f1.x[2,0]+i)\n", - " pxs.append (pos[0])\n", + " xs.append(f1.x[0, 0]+i)\n", + " ys.append(f1.x[2, 0]+i)\n", + " pxs.append(pos[0])\n", " pys.append(pos[1])\n", " \n", " # perform the Kalman filter steps\n", - " f1.predict ()\n", + " f1.predict()\n", " f1.update(z)\n", "\n", "\n", - "p1, = plt.plot (xs, ys, 'r--')\n", - "p2, = plt.plot (pxs, pys)\n", - "plt.legend([p1,p2], ['filter', 'ideal'], loc=2)\n", + "plt.plot(xs, ys, 'r--', label='filter')\n", + "plt.plot(pxs, pys, label='ideal')\n", + "plt.legend(loc=2)\n", "plt.show()" ], "language": "python", @@ -824,9 +825,9 @@ { "metadata": {}, "output_type": "display_data", - "png": 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HD+rMmTNatGiRQkJCJEnffPONx9eGhoZKknJychQUFFRVvw0AAPBrwcFKX7pUYc89p6zr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\nI4Z/Zjl1SqErVypk5UoFnD4tSQp96y2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znl+4cKEWLlzo9aIAAKhOoRs2KG76dNn27pUkOVNTlTltmg60ba+5izcQgoEa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\n7GxZ09NlWq1yX3yx3ElJcjd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