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- fixed Kalman

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jens
2020-11-26 20:41:42 +01:00
parent e867bd574e
commit 18103df836
1 changed files with 16 additions and 4 deletions
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components/pid/kalman.py
+16 -4
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@@ -118,9 +118,21 @@ if __name__ == '__main__':
N = int(100/dt)
seqn = range(0, N)
_seqn = range(0, 2*N)
for n in seqn:
X = ()
Z = k.process_measurement((1, 0), 0.01)
X = (1, 0)
Z = k.process_measurement(X, 0.01)
# Kalman.print("Z:", Z)
Xp = k.process(Z)
_x1 = np.append(_x1, Z[0])
_x2 = np.append(_x2, Z[1])
_y1 = np.append(_y1, Xp[0])
_y2 = np.append(_y2, Xp[1])
for n in seqn:
X = k.process_truth()
Z = k.process_measurement((X[0,0], 0), 0.01)
# Kalman.print("Z:", Z)
Xp = k.process(Z)
@@ -131,10 +143,10 @@ if __name__ == '__main__':
figure(1)
subplot(2, 1, 1)
plot(seqn, _x1, 'bx', seqn, _y1, '-r', linewidth=1)
plot(_seqn, _x1, 'bx', _seqn, _y1, '-r', linewidth=1)
grid(True)
subplot(2, 1, 2)
plot(seqn, _x2, 'bx', seqn, _y2, '-r', linewidth=1)
plot(_seqn, _x2, 'bx', _seqn, _y2, '-r', linewidth=1)
grid(True)
show()