public KalmanPredictionResult Predict(KalmanTripSegment lastVehicleSegment, List <KalmanTripSegment> historicalSegments, double lastError)
{
double average = HistoricalAverage(historicalSegments);
double variance = HistoricalVariance(historicalSegments, average);
double gain = Gain(average, variance, lastError);
double loopGain = 1 - gain;
KalmanPredictionResult result = new KalmanPredictionResult(Prediction(gain, loopGain, historicalSegments, lastVehicleSegment, average), FilterError(variance, gain));
return(result);
}
private double Prediction(double gain, double loopGain, List <KalmanTripSegment> historicalSegments, KalmanTripSegment lastSegment, double averageDuration)
{
double historicalDuration = averageDuration;
long lastVehicleDuration = lastSegment.GetDestination().GetTime() - lastSegment.GetOrigin().GetTime();
double prediction = (loopGain * lastVehicleDuration) + (gain * historicalDuration);
return(prediction);
}