KalmanFilterSimple1D makeKalmanFilter(double q, double r, double f, double h)
{
var filter = new KalmanFilterSimple1D (q,r,f,h);
// set initial value
filter.SetState (500,5.0);
return filter;
}
KalmanFilterSimple1D makeKalmanFilter(double q, double r, double f, double h)
{
var filter = new KalmanFilterSimple1D(q, r, f, h);
// set initial value
filter.SetState(500, 5.0);
return(filter);
}
public SimpleKalmanWrapper()
{
/*
* X0 : predicted state
* P0 : predicted covariance
*
* F : factor of real value to previous real value
* Q : measurement noise
* H : factor of measured value to real value
* R : environment noise
*
*/
double q = 0.4;
double r = 10;
double f = 1.0;
double h = 1.0;
kX = makeKalmanFilter(q, r, f, h);
kY = makeKalmanFilter(q, r, f, h);
kZ = makeKalmanFilter(q, r, f, h);
}
public SimpleKalmanWrapper()
{
/*
X0 : predicted state
P0 : predicted covariance
F : factor of real value to previous real value
Q : measurement noise
H : factor of measured value to real value
R : environment noise
*/
double q = 0.4;
double r = 10;
double f = 1.0;
double h = 1.0;
kX = makeKalmanFilter (q, r, f, h);
kY = makeKalmanFilter (q, r, f, h);
kZ = makeKalmanFilter (q, r, f, h);
}