*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
real default_σ_h = 20;
real default_σ_a = 2;
+real[3,3] model_error(t, Φ) = multiply_mat_val ((real[3,3]) {
+ { t**5 / 20, t**4 / 8, t**3 / 6 },
+ { t**4 / 8, t**3 / 3, t**2 / 2 },
+ { t**3 / 6, t**2 / 2, t }
+ }, Φ);
+
parameters_t param_both(real t, real σ_m, real σ_h, real σ_a) {
if (σ_m == 0)
σ_m = default_σ_m;
* Model error covariance. The only inaccuracy in the
* model is the assumption that acceleration is constant
*/
- .q = (real[3,3]) {
- { 0, 0, 0 },
- { 0, 0, 0 },
- {.0, 0, σ_m**2 },
- },
+ .q = model_error (t, σ_m**2),
/*
* Measurement error covariance
* Our sensors are independent, so
* Model error covariance. The only inaccuracy in the
* model is the assumption that acceleration is constant
*/
- .q = (real[3,3]) {
- { 0, 0, 0 },
- { 0, 0, 0 },
- {.0, 0, σ_m**2 },
- },
+ .q = model_error (t, σ_m**2),
/*
* Measurement error covariance
* Our sensors are independent, so
* Model error covariance. The only inaccuracy in the
* model is the assumption that acceleration is constant
*/
- .q = (real[3,3]) {
- { 0, 0, 0 },
- { 0, 0, 0 },
- {.0, 0, σ_m**2 },
- },
+ .q = model_error (t, σ_m**2),
/*
* Measurement error covariance
* Our sensors are independent, so
* Model error covariance. The only inaccuracy in the
* model is the assumption that acceleration is constant
*/
- .q = (real[3,3]) {
- { 0, 0, 0 },
- { 0, 0, 0 },
- {.0, 0, σ_m**2 },
- },
+ .q = model_error (t, σ_m**2),
/*
* Measurement error covariance
* Our sensors are independent, so
name = sprintf("%s_K%d_%d", prefix, i, time_inc);
else
name = sprintf("%s_K%d%d_%d", prefix, i, j, time_inc);
- printf ("#define %s to_fix32(%12.10f)\n", name, k[i,j]);
+ printf ("#define %s to_fix_k(%12.10f)\n", name, k[i,j]);
}
printf ("\n");
exit(0);