/// <summary>
/// Kalman Filter with parameters
/// </summary>
/// <param name="initialObservation">The initial observation.</param>
/// <param name="deviceError">The device error.</param>
/// <param name="horizontalDOP">The horizontal DOP.</param>
/// <param name="verticalDOP">The vertical DOP.</param>
/// <param name="ellipsoid">The ellipsoid.</param>
public KalmanFilter(
Position3D initialObservation,
Distance deviceError,
DilutionOfPrecision horizontalDOP,
DilutionOfPrecision verticalDOP,
Ellipsoid ellipsoid)
{
_currentState = new KalmanSystemState(
initialObservation,
deviceError,
horizontalDOP,
verticalDOP,
ellipsoid);
}
/// <summary>
/// Initializes the Kalman Filter using an initial observation (position)
/// </summary>
/// <param name="gpsPosition">The position at which tfilter is to begin opperating.</param>
/// <param name="deviceError">A distance measure of device error</param>
/// <param name="horizontalDOP">The horizontal dilution of precision</param>
/// <param name="verticalDOP">The vertical dilution of precision</param>
/// <param name="ellipsoid">The ellipsoid</param>
public void Initialize(Position3D gpsPosition, Distance deviceError, DilutionOfPrecision horizontalDOP, DilutionOfPrecision verticalDOP, Ellipsoid ellipsoid)
{
double fail = horizontalDOP.Value * verticalDOP.Value * deviceError.Value;
if (fail == 0 || double.IsNaN(fail) || double.IsInfinity(fail))
{
throw new ArgumentException(
"Parameters deviceError, horizontalDOP and verticalDOP must be greater than zero.");
}
_currentState = new KalmanSystemState(gpsPosition, deviceError, horizontalDOP, verticalDOP, ellipsoid);
}
/// <summary>
/// Initializes the Kalman Filter using an initial observation (position)
/// </summary>
/// <param name="gpsPosition">The position at which tfilter is to begin opperating.</param>
/// <param name="deviceError">Distance of the error</param>
/// <param name="horizontalDOP">The horizontal dilution of precision</param>
/// <param name="verticalDOP">The vertical dilution of precision</param>
/// <param name="ellipsoid">The ellipsoid</param>
public void Initialize(Position gpsPosition, Distance deviceError, DilutionOfPrecision horizontalDOP, DilutionOfPrecision verticalDOP, Ellipsoid ellipsoid)
{
_currentState = new KalmanSystemState(new Position3D(gpsPosition), deviceError, horizontalDOP, verticalDOP, ellipsoid);
}
/// <summary>
/// Kalman Filter with parameters
/// </summary>
/// <param name="initialObservation">The initial observation.</param>
/// <param name="deviceError">The device error.</param>
/// <param name="horizontalDOP">The horizontal DOP.</param>
/// <param name="verticalDOP">The vertical DOP.</param>
/// <param name="ellipsoid">The ellipsoid.</param>
public KalmanFilter(
Position3D initialObservation,
Distance deviceError,
DilutionOfPrecision horizontalDOP,
DilutionOfPrecision verticalDOP,
Ellipsoid ellipsoid)
{
_currentState = new KalmanSystemState(
initialObservation,
deviceError,
horizontalDOP,
verticalDOP,
ellipsoid);
}
/// <summary>
/// Initializes the Kalman Filter using an initial observation (position)
/// </summary>
/// <param name="gpsPosition">The position at which tfilter is to begin opperating.</param>
/// <param name="deviceError">Distance of the error</param>
/// <param name="horizontalDOP">The horizontal dilution of precision</param>
/// <param name="verticalDOP">The vertical dilution of precision</param>
/// <param name="ellipsoid">The ellipsoid</param>
public void Initialize(Position gpsPosition, Distance deviceError, DilutionOfPrecision horizontalDOP, DilutionOfPrecision verticalDOP, Ellipsoid ellipsoid)
{
_currentState = new KalmanSystemState(new Position3D(gpsPosition), deviceError, horizontalDOP, verticalDOP, ellipsoid);
}
