Revision 1:f696623db4b5, committed 2018-06-05

Comitter:

DuyLionTran

Date:

Tue Jun 05 04:17:31 2018 +0000

Parent:

0:dd8a94919e2e

Commit message:

General Kalman Filter

Changed in this revision

diff -r dd8a94919e2e -r f696623db4b5 KalmaFilterPulse.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/KalmaFilterPulse.cpp	Tue Jun 05 04:17:31 2018 +0000
@@ -0,0 +1,36 @@
+/* 
+ * File:   KalmanFilterPulse.cpp
+ * Author: Duy Lion Tran
+ * 
+ * Created on July 12, 2016, 1:04 PM
+ */
+
+#include "KalmanFilterPulse.h"
+
+KalmanFilterPulse::KalmanFilterPulse(double q, double r, double p)
+    : _q(q), _q_init(q), _r(r), _r_init(0), _x(0), _p(p), _p_init(p), _k(_p / (_p + _r))
+{
+
+}
+
+KalmanFilterPulse::~KalmanFilterPulse() {
+}
+
+/**
+ * update data
+ * 
+ * @param measurement
+ * @return 
+ */
+double KalmanFilterPulse::kalmanUpdate(double measurement) {
+    //prediction update
+    //omit _x = _x
+    _p = _p + _q;
+
+    //measurement update
+    _k = _p / (_p + _r);
+    _x = _x + _k * (measurement - _x);
+    _p = (1 - _k) * _p;
+
+    return _x;
+}

diff -r dd8a94919e2e -r f696623db4b5 KalmanFilterPulse.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/KalmanFilterPulse.h	Tue Jun 05 04:17:31 2018 +0000
@@ -0,0 +1,39 @@
+/* 
+ * File:   KalmanFilterPulse.h
+ * Author: longdh
+ *
+ * Created on July 12, 2016, 1:04 PM
+ */
+
+#ifndef _KALMANFILTERPULSE_H_
+#define _KALMANFILTERPULSE_H_
+
+class KalmanFilterPulse {
+public:
+    KalmanFilterPulse(double q, double r, double p);
+    virtual ~KalmanFilterPulse();
+    
+    void init(double x){ _x = x ;}
+    void setProcessNoiseCovariance(double i){ _q = i; _q_init = i;}
+    void setMeasurementNoiseCovariance(double i){_r = i; _r_init = i ;}
+    void setEstimatiomErrorCovariance(double i){_p = i; _p_init = i ;}
+    virtual double kalmanUpdate(double measurement);
+    void reset(){_q = _q_init; _r = _r_init ; _p = _p_init;};
+    
+    double getProcessNoiseCovariance(){ return _q;}
+    double getMeasurementNoiseCovariance(){return _r;}
+    double getEstimatiomErrorCovariance(){return _p;} 
+    double getKalmanGain() { return _k;}
+    
+private:
+    double _q; //process noise covariance
+    double _q_init;
+    double _r; //measurement noise covariance
+    double _r_init;
+    double _x; //value
+    double _p; //estimation error covariance
+    double _p_init;
+    double _k; //kalman gain
+};
+
+#endif /* _KALMANFILTERPULSE_H_ */

diff -r dd8a94919e2e -r f696623db4b5 KamalFilterRSSI.cpp
--- a/KamalFilterRSSI.cpp	Tue Aug 02 18:06:10 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,36 +0,0 @@
-/* 
- * File:   KamalFilterRSSI.cpp
- * Author: longdh
- * 
- * Created on July 12, 2016, 1:04 PM
- */
-
-#include "KamalFilterRSSI.h"
-
-KamalFilterRSSI::KamalFilterRSSI(double q, double r, double p)
-    : _q(q), _q_init(q), _r(r), _r_init(0), _x(0), _p(p), _p_init(p), _k(_p / (_p + _r))
-{
-
-}
-
-KamalFilterRSSI::~KamalFilterRSSI() {
-}
-
-/**
- * update data
- * 
- * @param measurement
- * @return 
- */
-double KamalFilterRSSI::kalmanUpdate(double measurement) {
-    //prediction update
-    //omit _x = _x
-    _p = _p + _q;
-
-    //measurement update
-    _k = _p / (_p + _r);
-    _x = _x + _k * (measurement - _x);
-    _p = (1 - _k) * _p;
-
-    return _x;
-}

diff -r dd8a94919e2e -r f696623db4b5 KamalFilterRSSI.h
--- a/KamalFilterRSSI.h	Tue Aug 02 18:06:10 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,39 +0,0 @@
-/* 
- * File:   KamalFilterRSSI.h
- * Author: longdh
- *
- * Created on July 12, 2016, 1:04 PM
- */
-
-#ifndef KAMALFILTERRSSI_H
-#define KAMALFILTERRSSI_H
-
-class KamalFilterRSSI {
-public:
-    KamalFilterRSSI(double q, double r, double p);
-    virtual ~KamalFilterRSSI();
-    
-    void init(double x){ _x = x ;}
-    void setProcessNoiseCovariance(double i){ _q = i; _q_init = i;}
-    void setMeasurementNoiseCovariance(double i){_r = i; _r_init = i ;}
-    void setEstimatiomErrorCovariance(double i){_p = i; _p_init = i ;}
-    virtual double kalmanUpdate(double measurement);
-    void reset(){_q = _q_init; _r = _r_init ; _p = _p_init;};
-    
-    double getProcessNoiseCovariance(){ return _q;}
-    double getMeasurementNoiseCovariance(){return _r;}
-    double getEstimatiomErrorCovariance(){return _p;} 
-    double getKalmanGain() { return _k;}
-    
-private:
-    double _q; //process noise covariance
-    double _q_init;
-    double _r; //measurement noise covariance
-    double _r_init;
-    double _x; //value
-    double _p; //estimation error covariance
-    double _p_init;
-    double _k; //kalman gain
-};
-
-#endif /* KAMALFILTERRSSI_H */