本文整理汇总了Python中filterpy.kalman.KalmanFilter.R[0,0]方法的典型用法代码示例。如果您正苦于以下问题：Python KalmanFilter.R[0,0]方法的具体用法？Python KalmanFilter.R[0,0]怎么用？Python KalmanFilter.R[0,0]使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类filterpy.kalman.KalmanFilter的用法示例。
在下文中一共展示了KalmanFilter.R[0,0]方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: sensor_fusion_test
# 需要导入模块: from filterpy.kalman import KalmanFilter [as 别名]
# 或者: from filterpy.kalman.KalmanFilter import R[0,0] [as 别名]
def sensor_fusion_test(wheel_sigma=2., gps_sigma=4.):
dt = 0.1
kf2 = KalmanFilter(dim_x=2, dim_z=2)
kf2.F = array ([[1., dt], [0., 1.]])
kf2.H = array ([[1., 0.], [1., 0.]])
kf2.x = array ([[0.], [0.]])
kf2.Q = array ([[dt**3/3, dt**2/2],
[dt**2/2, dt]]) * 0.02
kf2.P *= 100
kf2.R[0,0] = wheel_sigma**2
kf2.R[1,1] = gps_sigma**2
random.seed(SEED)
xs = []
zs = []
nom = []
for i in range(1, 100):
m0 = i + randn()*wheel_sigma
m1 = i + randn()*gps_sigma
if gps_sigma >1e40:
m1 = -1e40
z = array([[m0], [m1]])
kf2.predict()
kf2.update(z)
xs.append(kf2.x.T[0])
zs.append(z.T[0])
nom.append(i)
xs = asarray(xs)
zs = asarray(zs)
nom = asarray(nom)
res = nom-xs[:,0]
std_dev = np.std(res)
print('fusion std: {:.3f}'.format (np.std(res)))
if DO_PLOT:
plt.subplot(211)
plt.plot(xs[:,0])
#plt.plot(zs[:,0])
#plt.plot(zs[:,1])
plt.subplot(212)
plt.axhline(0)
plt.plot(res)
plt.show()
print(kf2.Q)
print(kf2.K)
return std_dev示例2: single_measurement_test
# 需要导入模块: from filterpy.kalman import KalmanFilter [as 别名]
# 或者: from filterpy.kalman.KalmanFilter import R[0,0] [as 别名]
def single_measurement_test():
dt = 0.1
sigma = 2.
kf2 = KalmanFilter(dim_x=2, dim_z=1)
kf2.F = array ([[1., dt], [0., 1.]])
kf2.H = array ([[1., 0.]])
kf2.x = array ([[0.], [1.]])
kf2.Q = array ([[dt**3/3, dt**2/2],
[dt**2/2, dt]]) * 0.02
kf2.P *= 100
kf2.R[0,0] = sigma**2
random.seed(SEED)
xs = []
zs = []
nom = []
for i in range(1, 100):
m0 = i + randn()*sigma
z = array([[m0]])
kf2.predict()
kf2.update(z)
xs.append(kf2.x.T[0])
zs.append(z.T[0])
nom.append(i)
xs = asarray(xs)
zs = asarray(zs)
nom = asarray(nom)
res = nom-xs[:,0]
std_dev = np.std(res)
print('std: {:.3f}'.format (std_dev))
global DO_PLOT
if DO_PLOT:
plt.subplot(211)
plt.plot(xs[:,0])
#plt.plot(zs[:,0])
plt.subplot(212)
plt.plot(res)
plt.show()
return std_dev