oursland.kalman
Class KalmanFilter1D

java.lang.Object
  oursland.kalman.KalmanFilter1D

All Implemented Interfaces:

java.lang.Cloneable

Direct Known Subclasses:

KalmanProcess

public class KalmanFilter1D
extends java.lang.Object
implements java.lang.Cloneable

Field Summary

private double	expectedValue
private double	posterioriErrorCovariance
private double	prioriErrorCovariance
private double	processNoiseCovariance
private double	sensorNoiseCovariance

Constructor Summary

KalmanFilter1D(double errorCovariance)

KalmanFilter1D(double prioriErrorCovariance, double posterioriErrorCovariance)

KalmanFilter1D(KalmanFilter1D copy)

Method Summary

java.lang.Object	clone()
double	getExpectedValue()
double	getPosterioriErrorCovariance()
double	getPosterioriErrorVariance()
double	getProcessNoiseCovariance()
double	getSensorNoiseCovariance()
double	measurementUpdate(double prioriValue, double measuredValue)
double	measurementUpdate(double prioriValue, double measuredValue, double sensorError)
void	measurementUpdate2(double observedValue, double sensorError)
void	setExpectedValue(double value)
void	setExpectedValueConfidence(double error)
void	setPrioriErrorCovariance(double d)
void	setProcessNoiseCovariance(double q)
void	setSensorNoiseCovariance(double r)
void	timeUpdate(double dt)
void	timeUpdate(double dt, double processNoise)

Methods inherited from class java.lang.Object

equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

processNoiseCovariance

private double processNoiseCovariance

sensorNoiseCovariance

private double sensorNoiseCovariance

prioriErrorCovariance

private double prioriErrorCovariance

posterioriErrorCovariance

private double posterioriErrorCovariance

expectedValue

private double expectedValue

Constructor Detail

KalmanFilter1D

public KalmanFilter1D(double errorCovariance)

KalmanFilter1D

public KalmanFilter1D(double prioriErrorCovariance,
                      double posterioriErrorCovariance)

KalmanFilter1D

public KalmanFilter1D(KalmanFilter1D copy)

Method Detail

timeUpdate

public void timeUpdate(double dt)

timeUpdate

public void timeUpdate(double dt,
                       double processNoise)

measurementUpdate

public double measurementUpdate(double prioriValue,
                                double measuredValue)

measurementUpdate

public double measurementUpdate(double prioriValue,
                                double measuredValue,
                                double sensorError)

measurementUpdate2

public void measurementUpdate2(double observedValue,
                               double sensorError)

setProcessNoiseCovariance

public void setProcessNoiseCovariance(double q)

setSensorNoiseCovariance

public void setSensorNoiseCovariance(double r)

getProcessNoiseCovariance

public double getProcessNoiseCovariance()

getSensorNoiseCovariance

public double getSensorNoiseCovariance()

getPosterioriErrorCovariance

public double getPosterioriErrorCovariance()

getPosterioriErrorVariance

public double getPosterioriErrorVariance()

clone

public java.lang.Object clone()

Overrides:

clone in class java.lang.Object

setPrioriErrorCovariance

public void setPrioriErrorCovariance(double d)

setExpectedValue

public void setExpectedValue(double value)

setExpectedValueConfidence

public void setExpectedValueConfidence(double error)

getExpectedValue

public double getExpectedValue()