/// <summary>
/// kalman滤波构造函数。
/// </summary>
/// <param name="coeff">A n*m阶设计矩阵，也称观测矩阵，系数阵</param>
/// <param name="apriori">先验值</param>
/// <param name="observation">观测值 L,满足 l = L - (AX0 + D), 若X0与D为null， 则l=L </param>
/// <param name="trans">Φ 状态转移矩阵和Q_m 动力模型噪声向量 W 的方差</param>
/// <param name="approx">参数近似向量X0,满足 l = L - (AX0 + D) </param>
/// <param name="freeVector">常数项D，满足 l = L - (AX0 + D) </param>
public AdjustObsMatrix(
WeightedVector apriori,
WeightedVector observation,
Matrix coeff,
WeightedMatrix trans,
Vector approx = null,
Vector freeVector = null
)
{
this.Coefficient = coeff;
this.Apriori = apriori;
this.Observation = observation;
this.Transfer = trans;
this.ApproxVector = approx;
this.FreeVector = freeVector;
}
/// <summary>
/// 解析为对象
/// </summary>
/// <param name="splitterOfMatrixItems"></param>
/// <param name="obs"></param>
/// <param name="currentBlockSb"></param>
/// <param name="currentType"></param>
private static void ParseBufferText(string[] splitterOfMatrixItems, AdjustObsMatrix obs, StringBuilder currentBlockSb, ObsMatrixType currentType)
{
switch (currentType)
{
case ObsMatrixType.Apriori:
obs.Apriori = WeightedVector.Parse(currentBlockSb.ToString());
break;
case ObsMatrixType.Observation:
obs.Observation = WeightedVector.Parse(currentBlockSb.ToString(), splitterOfMatrixItems);
break;
case ObsMatrixType.Coefficient:
obs.Coefficient = Matrix.Parse(currentBlockSb.ToString(), splitterOfMatrixItems);
break;
case ObsMatrixType.SecondCoefficient:
obs.SecondCoefficient = Matrix.Parse(currentBlockSb.ToString(), splitterOfMatrixItems);
break;
case ObsMatrixType.Transfer:
obs.Transfer = WeightedMatrix.Parse(currentBlockSb.ToString(), splitterOfMatrixItems);
break;
case ObsMatrixType.ApproxVector:
obs.ApproxVector = Vector.Parse(currentBlockSb.ToString());
break;
case ObsMatrixType.SecondApproxVector:
obs.SecondApproxVector = Vector.Parse(currentBlockSb.ToString());
break;
case ObsMatrixType.FreeVector:
obs.FreeVector = Vector.Parse(currentBlockSb.ToString());
break;
case ObsMatrixType.SecondFreeVector:
obs.SecondFreeVector = Vector.Parse(currentBlockSb.ToString());
break;
default:
break;
}
currentBlockSb.Clear();
}
/// <summary>
/// 设置转移矩阵
/// </summary>
/// <param name="Transfer"></param>
/// <returns></returns>
public ManualAdjustMatrixBuilder SetTransfer(WeightedMatrix Transfer)
{
this.Transfer = Transfer; return(this);
}
