oursland.kalman
Class KalmanFilter2D

java.lang.Object
  oursland.kalman.KalmanFilter2D

All Implemented Interfaces:

java.lang.Cloneable, GeneralKalmanFilter

public class KalmanFilter2D
extends java.lang.Object
implements GeneralKalmanFilter, java.lang.Cloneable

Field Summary

private KalmanFilter1D	x
private KalmanFilter1D	y

Constructor Summary

KalmanFilter2D(double errorCovariance)

KalmanFilter2D(double[] errorCovariance)

KalmanFilter2D(double prioriErrorCovariance, double posterioriErrorCovariance)

KalmanFilter2D(KalmanFilter2D copy)

Method Summary

java.lang.Object	clone()
GeneralKalmanFilter	createCopy()
double[]	getPosterioriErrorCovariance()
double[]	getPosterioriErrorVariance()
double	getProcessNoiseCovariance()
double	getProductArea(double[] priori, double[] observed, double[] sensorErrorCovariance)
static double	getProductArea(double[] priori, double[] observed, double[] sensorErrorCovariance, double[] posterioriErrorVariance)
double	getSensorNoiseCovariance()
double[]	measurementUpdate(double[] prioriValue, double[] measuredValue)
void	setProcessNoiseCovariance(double q)
void	setProcessNoiseCovariance(double[] d)
void	setSensorNoiseCovariance(double[] r)
void	timeUpdate(double dt)

Methods inherited from class java.lang.Object

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

Field Detail

x

private KalmanFilter1D x

y

private KalmanFilter1D y

Constructor Detail

KalmanFilter2D

public KalmanFilter2D(double[] errorCovariance)

KalmanFilter2D

public KalmanFilter2D(double errorCovariance)

KalmanFilter2D

public KalmanFilter2D(double prioriErrorCovariance,
                      double posterioriErrorCovariance)

KalmanFilter2D

public KalmanFilter2D(KalmanFilter2D copy)

Method Detail

timeUpdate

public void timeUpdate(double dt)

Specified by:

timeUpdate in interface GeneralKalmanFilter

measurementUpdate

public double[] measurementUpdate(double[] prioriValue,
                                  double[] measuredValue)

Specified by:

measurementUpdate in interface GeneralKalmanFilter

setProcessNoiseCovariance

public void setProcessNoiseCovariance(double q)

setSensorNoiseCovariance

public void setSensorNoiseCovariance(double[] r)

Specified by:

setSensorNoiseCovariance in interface GeneralKalmanFilter

getProcessNoiseCovariance

public double getProcessNoiseCovariance()

getSensorNoiseCovariance

public double getSensorNoiseCovariance()

getPosterioriErrorCovariance

public double[] getPosterioriErrorCovariance()

Specified by:

getPosterioriErrorCovariance in interface GeneralKalmanFilter

getPosterioriErrorVariance

public double[] getPosterioriErrorVariance()

setProcessNoiseCovariance

public void setProcessNoiseCovariance(double[] d)

Specified by:

setProcessNoiseCovariance in interface GeneralKalmanFilter

clone

public java.lang.Object clone()

Specified by:

clone in interface GeneralKalmanFilter

Overrides:

clone in class java.lang.Object

getProductArea

public double getProductArea(double[] priori,
                             double[] observed,
                             double[] sensorErrorCovariance)

Specified by:

getProductArea in interface GeneralKalmanFilter

getProductArea

public static double getProductArea(double[] priori,
                                    double[] observed,
                                    double[] sensorErrorCovariance,
                                    double[] posterioriErrorVariance)

createCopy

public GeneralKalmanFilter createCopy()

Specified by:

createCopy in interface GeneralKalmanFilter