def example4():
start = GeoCoords(2.4320023, 48.84298, 100).toECEFCoords()
path = "data/psr_all.dat"
track = Track()
Nepochs = 534
for i in range(Nepochs):
track.addObs(Obs(ECEFCoords(0, 0, 0)))
track.createAnalyticalFeature("m0", [0] * Nepochs)
track.createAnalyticalFeature("sx0", [0] * Nepochs)
track.createAnalyticalFeature("sy0", [0] * Nepochs)
track.createAnalyticalFeature("sz0", [0] * Nepochs)
track.createAnalyticalFeature("m1", [0] * Nepochs)
track.createAnalyticalFeature("sx1", [0] * Nepochs)
track.createAnalyticalFeature("sy1", [0] * Nepochs)
track.createAnalyticalFeature("sz1", [0] * Nepochs)
track.createAnalyticalFeature("m2", [0] * Nepochs)
track.createAnalyticalFeature("sx2", [0] * Nepochs)
track.createAnalyticalFeature("sy2", [0] * Nepochs)
track.createAnalyticalFeature("sz2", [0] * Nepochs)
track.createAnalyticalFeature("m3", [0] * Nepochs)
track.createAnalyticalFeature("sx3", [0] * Nepochs)
track.createAnalyticalFeature("sy3", [0] * Nepochs)
track.createAnalyticalFeature("sz3", [0] * Nepochs)
track.createAnalyticalFeature("m4", [0] * Nepochs)
track.createAnalyticalFeature("sx4", [0] * Nepochs)
track.createAnalyticalFeature("sy4", [0] * Nepochs)
track.createAnalyticalFeature("sz4", [0] * Nepochs)
track.createAnalyticalFeature("m5", [0] * Nepochs)
track.createAnalyticalFeature("sx5", [0] * Nepochs)
track.createAnalyticalFeature("sy5", [0] * Nepochs)
track.createAnalyticalFeature("sz5", [0] * Nepochs)
with open(path) as fp:
line = True
for i in range(Nepochs):
for j in range(6):
line = fp.readline()
vals = line[:-1].split(",")
track.setObsAnalyticalFeature("sx" + str(j), i, float(vals[1]))
track.setObsAnalyticalFeature("sy" + str(j), i, float(vals[2]))
track.setObsAnalyticalFeature("sz" + str(j), i, float(vals[3]))
track.setObsAnalyticalFeature("m" + str(j), i, float(vals[4]))
line = fp.readline()
track = track % [False, True]
def F(x):
return np.array([[x[0, 0]], [x[1, 0]], [x[2, 0]], [x[3, 0] + x[4, 0]],
[x[4, 0]]])
def H(x, k, track):
return np.array([
[((x[0, 0] - track["sx0", k])**2 + (x[1, 0] - track["sy0", k])**2 +
(x[2, 0] - track["sz0", k])**2)**0.5 + x[3, 0]],
[((x[0, 0] - track["sx1", k])**2 + (x[1, 0] - track["sy1", k])**2 +
(x[2, 0] - track["sz1", k])**2)**0.5 + x[3, 0]],
[((x[0, 0] - track["sx2", k])**2 + (x[1, 0] - track["sy2", k])**2 +
(x[2, 0] - track["sz2", k])**2)**0.5 + x[3, 0]],
[((x[0, 0] - track["sx3", k])**2 + (x[1, 0] - track["sy3", k])**2 +
(x[2, 0] - track["sz3", k])**2)**0.5 + x[3, 0]],
[((x[0, 0] - track["sx4", k])**2 + (x[1, 0] - track["sy4", k])**2 +
(x[2, 0] - track["sz4", k])**2)**0.5 + x[3, 0]],
[((x[0, 0] - track["sx5", k])**2 + (x[1, 0] - track["sy5", k])**2 +
(x[2, 0] - track["sz5", k])**2)**0.5 + x[3, 0]]
])
Q = 1e0 * np.eye(5, 5)
Q[3, 3] = 0
Q[4, 4] = 1e0
def R(k):
P = 1e1 * np.eye(6, 6)
if (k >= 70) and (k < 267):
for i in range(3, 6):
P[i, i] = 1e16
return P
for k in range(70, 267):
for i in range(3, 6):
track.setObsAnalyticalFeature("m" + str(i), k, 20000000)
X0 = np.array([[start.X], [start.Y], [start.Z], [0], [0]])
P0 = 1e5 * np.eye(5, 5)
P0[3, 3] = 1e8
P0[4, 4] = 1e6
UKF = Kalman(spreading=1)
UKF.setTransition(F, Q)
UKF.setObservation(H, R)
UKF.setInitState(X0, P0)
UKF.summary()
UKF.estimate(track, ["m0", "m1", "m2", "m3", "m4", "m5"],
mode=Dynamics.MODE_STATES_AS_3D_POSITIONS)
track.toGeoCoords()
KmlWriter.writeToKml(track,
path="couplage.kml",
type="POINT",
c1=[0, 1, 0, 1])
track.plot('r+')
plt.show()
def example3():
start = GeoCoords(2.4320023, 48.84298, 100).toECEFCoords()
print(start)
path = "data/psr.dat"
track = Track()
for i in range(47):
track.addObs(Obs(ECEFCoords(0, 0, 0)))
track.createAnalyticalFeature("m0", [0] * 47)
track.createAnalyticalFeature("sx0", [0] * 47)
track.createAnalyticalFeature("sy0", [0] * 47)
track.createAnalyticalFeature("sz0", [0] * 47)
track.createAnalyticalFeature("m1", [0] * 47)
track.createAnalyticalFeature("sx1", [0] * 47)
track.createAnalyticalFeature("sy1", [0] * 47)
track.createAnalyticalFeature("sz1", [0] * 47)
track.createAnalyticalFeature("m2", [0] * 47)
track.createAnalyticalFeature("sx2", [0] * 47)
track.createAnalyticalFeature("sy2", [0] * 47)
track.createAnalyticalFeature("sz2", [0] * 47)
track.createAnalyticalFeature("m3", [0] * 47)
track.createAnalyticalFeature("sx3", [0] * 47)
track.createAnalyticalFeature("sy3", [0] * 47)
track.createAnalyticalFeature("sz3", [0] * 47)
track.createAnalyticalFeature("m4", [0] * 47)
track.createAnalyticalFeature("sx4", [0] * 47)
track.createAnalyticalFeature("sy4", [0] * 47)
track.createAnalyticalFeature("sz4", [0] * 47)
with open(path) as fp:
line = True
for i in range(47):
for j in range(5):
line = fp.readline()
vals = line[:-2].split(",")
track.setObsAnalyticalFeature("sx" + str(j), i, float(vals[1]))
track.setObsAnalyticalFeature("sy" + str(j), i, float(vals[2]))
track.setObsAnalyticalFeature("sz" + str(j), i, float(vals[3]))
track.setObsAnalyticalFeature("m" + str(j), i, float(vals[4]))
line = fp.readline()
def F(x):
plan = ECEFCoords(x[0, 0], x[1, 0], x[2, 0]).toENUCoords(start)
plan.E += x[5, 0] * math.sin(x[4, 0])
plan.N += x[5, 0] * math.cos(x[4, 0])
xyz = plan.toECEFCoords(start)
return np.array([[xyz.X], [xyz.Y], [xyz.Z], [x[3, 0] + x[6, 0]],
[x[4, 0]], [x[5, 0]], [x[6, 0]]])
def H(x, k, track):
return np.array([
[((x[0, 0] - track["sx0", k])**2 + (x[1, 0] - track["sy0", k])**2 +
(x[2, 0] - track["sz0", k])**2)**0.5 + x[3, 0]],
[((x[0, 0] - track["sx1", k])**2 + (x[1, 0] - track["sy1", k])**2 +
(x[2, 0] - track["sz1", k])**2)**0.5 + x[3, 0]],
[((x[0, 0] - track["sx2", k])**2 + (x[1, 0] - track["sy2", k])**2 +
(x[2, 0] - track["sz2", k])**2)**0.5 + x[3, 0]],
[((x[0, 0] - track["sx3", k])**2 + (x[1, 0] - track["sy3", k])**2 +
(x[2, 0] - track["sz3", k])**2)**0.5 + x[3, 0]],
[((x[0, 0] - track["sx4", k])**2 + (x[1, 0] - track["sy4", k])**2 +
(x[2, 0] - track["sz4", k])**2)**0.5 + x[3, 0]]
])
Q = 1e0 * np.eye(7, 7)
Q[3, 3] = 0
Q[4, 4] = 1e-10
Q[5, 5] = 1e-1
Q[6, 6] = 1e-1
R = 1e1 * np.eye(5, 5)
X0 = np.array([[start.getX()], [start.getY()], [start.getZ()], [0], [0],
[0], [0]])
P0 = 1e5 * np.eye(7, 7)
P0[3, 3] = 1e6
P0[4, 4] = 1e1
P0[5, 5] = 1e1
P0[6, 6] = 1e3
UKF = Kalman(spreading=1)
UKF.setTransition(F, Q)
UKF.setObservation(H, R)
UKF.setInitState(X0, P0)
UKF.summary()
UKF.estimate(track, ["m0", "m1", "m2", "m3", "m4"],
mode=Dynamics.MODE_STATES_AS_3D_POSITIONS)
track.toGeoCoords()
track.plot('r-')
plt.show()
KmlWriter.writeToKml(track, path="couplage.kml", type="LINE")