Documentation ¶
Index ¶
- func BlockDiag(mats ...mat.Matrix) mat.Matrix
- func OrderByDerivative(q []float64, dim int, blockSize int) mat.Matrix
- func QDiscreteWhiteNoise(dim int, dt float64, variance float64, blockSize int, orderByDim bool) (mat.Matrix, error)
- type CubatureKalmanFilter
- type Filter
- type FilterFun
- type LinearKalmanFilter
- type Matrix
- type Shape
- type UnscentedKalmanFilter
Constants ¶
This section is empty.
Variables ¶
This section is empty.
Functions ¶
Types ¶
type CubatureKalmanFilter ¶
type CubatureKalmanFilter struct { DimX int // n DimZ int // m Dt float64 // collect duration Fx FilterFun // (n, 1) Hx FilterFun // (m, 1) X Matrix // (n, 1) P Matrix // (n, n) R Matrix // (m, m) Q Matrix // (n, n) PriorX Matrix // (n, 1) PriorP Matrix // (n, n) }
func NewCubatureKalmanFilter ¶
func (*CubatureKalmanFilter) Init ¶
func (kf *CubatureKalmanFilter) Init(x, P, Q, R Matrix)
func (*CubatureKalmanFilter) Predict ¶
func (kf *CubatureKalmanFilter) Predict()
func (*CubatureKalmanFilter) Update ¶
func (kf *CubatureKalmanFilter) Update(z Matrix) Matrix
type LinearKalmanFilter ¶
type LinearKalmanFilter struct { DimX int DimZ int Dt float64 F Matrix H Matrix X Matrix P Matrix R Matrix Q Matrix PriorX Matrix PriorP Matrix }
func NewKalmanFilter ¶
func (*LinearKalmanFilter) Init ¶
func (kf *LinearKalmanFilter) Init(x, P, Q, R Matrix)
func (*LinearKalmanFilter) Predict ¶
func (kf *LinearKalmanFilter) Predict()
func (*LinearKalmanFilter) Update ¶
func (kf *LinearKalmanFilter) Update(z Matrix) (X Matrix)
type UnscentedKalmanFilter ¶
type UnscentedKalmanFilter struct { DimX int // n DimZ int // m Dt float64 // collect duration Fx FilterFun // (n, 1) Hx FilterFun // (m, 1) X Matrix // (n, 1) P Matrix // (n, n) R Matrix // (m, m) Q Matrix // (n, n) PriorX Matrix // (n, 1) PriorP Matrix // (n, n) Wm Matrix // (1, 2*n+1) Wc Matrix // (1, 2*n+1) SigmaXs Matrix // (n, 2*n+1) SigmaParams []float64 //(alpha, kappa, beta) S Matrix // System uncertainty Y Matrix // Residual Adaptations []int // contains filtered or unexported fields }
func (*UnscentedKalmanFilter) Adapt ¶
func (kf *UnscentedKalmanFilter) Adapt(dt, stdScale, qScaleFactor float64)
Adapt uses system uncertainty to adjust process noise by a scale factor as it determines a maneuver has been made based on a factor of standard deviation of the system uncertainty
func (*UnscentedKalmanFilter) Init ¶
func (kf *UnscentedKalmanFilter) Init(x, P, Q, R Matrix)
func (*UnscentedKalmanFilter) Predict ¶
func (kf *UnscentedKalmanFilter) Predict()
func (*UnscentedKalmanFilter) Update ¶
func (kf *UnscentedKalmanFilter) Update(z Matrix) Matrix
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