{ "metadata": { "name": "" }, "nbformat": 3, "nbformat_minor": 0, "worksheets": [ { "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "Paper for [11th International Conference on Informatics in Control, Automation and Robotics (ICINCO) 2014](http://www.icinco.org/)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "![ICINCO2014](http://www.icinco.org/App_Themes/2014/Images/up.png)" ] }, { "cell_type": "code", "collapsed": false, "input": [ "import numpy as np\n", "import matplotlib.dates as mdates\n", "import matplotlib.pyplot as plt\n", "import matplotlib.patches as mpatches\n", "from scipy.stats import norm\n", "import time\n", "from IPython.display import Image as ImageDisp\n", "from sympy import Symbol, symbols, Matrix, sin, cos, latex, Plot\n", "from sympy.interactive import printing\n", "printing.init_printing()\n", "%pylab inline --no-import-all" ], "language": "python", "metadata": {}, "outputs": [ { "output_type": "stream", "stream": "stdout", "text": [ "Populating the interactive namespace from numpy and matplotlib\n" ] } ], "prompt_number": 392 }, { "cell_type": "heading", "level": 1, "metadata": {}, "source": [ "Adaptive Extended Kalman Filter Implementation for Constant Turn Rate and Velocity (CTRV) Vehicle Model with Attitude Estimation in Python" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "![Extended Kalman Filter Step](https://raw.github.com/balzer82/Kalman/master/Extended-Kalman-Filter-Step.png)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Situation covered: You have an velocity sensor which measures the vehicle speed ($v$) in heading direction ($\\psi$) and a yaw rate sensor ($\\dot \\psi$) which both have to fused with the position ($x$ & $y$) from a GPS sensor in loosely coupled way." ] }, { "cell_type": "heading", "level": 2, "metadata": {}, "source": [ "State Vector - Constant Turn Rate and Velocity Vehicle Model (CTRV) + Roll and Pitch Estimation" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "\n", "\n", "$$x_k= \\left[ \\begin{matrix} x\\\\y\\\\ v \\\\ \\psi\\\\\\phi\\\\\\Theta \\end{matrix}\\right] = \\left[ \\begin{matrix} \\text{Position x (GNSS)}\\\\ \\text{Position y (GNSS)}\\\\ \\text{Speed (GNSS)} \\\\ \\text{Heading (GNSS)} \\\\ \\text{Pitch (IMU)} \\\\ \\text{Roll (IMU)} \\end{matrix}\\right]$$" ] }, { "cell_type": "code", "collapsed": false, "input": [ "numstates=6 # States" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 393 }, { "cell_type": "code", "collapsed": false, "input": [ "dt = 1.0/50.0 # Sample Rate of the Measurements is 50Hz\n", "dtGPS = 1.0/10.0 # Sample Rate of GPS is 10Hz" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 394 }, { "cell_type": "markdown", "metadata": {}, "source": [ "All symbolic calculations are made with [Sympy](http://nbviewer.ipython.org/github/jrjohansson/scientific-python-lectures/blob/master/Lecture-5-Sympy.ipynb). Thanks!" ] }, { "cell_type": "code", "collapsed": false, "input": [ "vs, psis, dpsis, dts, xs, ys, axs, phis, dphis, thetas, dthetas, Lats, Lons = \\\n", " symbols('v \\psi \\dot\\psi T x y a_x \\phi \\dot\\phi \\Theta \\dot\\Theta Lat Lon')\n", "\n", "As = Matrix([[xs+(vs/dpsis)*(sin(psis+dpsis*dts)-sin(psis))],\n", " [ys+(vs/dpsis)*(-cos(psis+dpsis*dts)+cos(psis))],\n", " [vs + axs*dts],\n", " [psis+dpsis*dts],\n", " [phis+dphis*dts],\n", " [thetas+dthetas*dts]])\n", "state = Matrix([xs,ys,vs,psis,phis,thetas])" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 395 }, { "cell_type": "heading", "level": 2, "metadata": {}, "source": [ "Dynamic Matrix" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "This formulas calculate how the state is evolving from one to the next time step" ] }, { "cell_type": "code", "collapsed": false, "input": [ "As" ], "language": "python", "metadata": {}, "outputs": [ { "latex": [ "$$\\left[\\begin{matrix}x + \\frac{v}{\\dot\\psi} \\left(- \\sin{\\left (\\psi \\right )} + \\sin{\\left (T \\dot\\psi + \\psi \\right )}\\right)\\\\y + \\frac{v}{\\dot\\psi} \\left(\\cos{\\left (\\psi \\right )} - \\cos{\\left (T \\dot\\psi + \\psi \\right )}\\right)\\\\T a_{x} + v\\\\T \\dot\\psi + \\psi\\\\T \\dot\\phi + \\phi\\\\T \\dot\\Theta + \\Theta\\end{matrix}\\right]$$" ], "metadata": {}, "output_type": "pyout", "prompt_number": 396, "text": [ "\u23a1 v\u22c5(-sin(\\psi) + sin(T\u22c5\\dot\\psi + \\psi))\u23a4\n", "\u23a2x + \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u23a5\n", "\u23a2 \\dot\\psi \u23a5\n", "\u23a2 \u23a5\n", "\u23a2 v\u22c5(cos(\\psi) - cos(T\u22c5\\dot\\psi + \\psi)) \u23a5\n", "\u23a2y + \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500 \u23a5\n", "\u23a2 \\dot\\psi \u23a5\n", "\u23a2 \u23a5\n", "\u23a2 T\u22c5a\u2093 + v \u23a5\n", "\u23a2 \u23a5\n", "\u23a2 T\u22c5\\dot\\psi + \\psi \u23a5\n", "\u23a2 \u23a5\n", "\u23a2 T\u22c5\\dot\\phi + \\phi \u23a5\n", "\u23a2 \u23a5\n", "\u23a3 T\u22c5\\dot\\Theta + \\Theta \u23a6" ] } ], "prompt_number": 396 }, { "cell_type": "code", "collapsed": false, "input": [ "print latex(As)" ], "language": "python", "metadata": {}, "outputs": [ { "output_type": "stream", "stream": "stdout", "text": [ "\\left[\\begin{matrix}x + \\frac{v}{\\dot\\psi} \\left(- \\sin{\\left (\\psi \\right )} + \\sin{\\left (T \\dot\\psi + \\psi \\right )}\\right)\\\\y + \\frac{v}{\\dot\\psi} \\left(\\cos{\\left (\\psi \\right )} - \\cos{\\left (T \\dot\\psi + \\psi \\right )}\\right)\\\\T a_{x} + v\\\\T \\dot\\psi + \\psi\\\\T \\dot\\phi + \\phi\\\\T \\dot\\Theta + \\Theta\\end{matrix}\\right]\n" ] } ], "prompt_number": 397 }, { "cell_type": "heading", "level": 3, "metadata": {}, "source": [ "Calculate the Jacobian of the Dynamic Matrix with respect to the state vector" ] }, { "cell_type": "code", "collapsed": false, "input": [ "state" ], "language": "python", "metadata": {}, "outputs": [ { "latex": [ "$$\\left[\\begin{matrix}x\\\\y\\\\v\\\\\\psi\\\\\\phi\\\\\\Theta\\end{matrix}\\right]$$" ], "metadata": {}, "output_type": "pyout", "prompt_number": 398, "text": [ "\u23a1 x \u23a4\n", "\u23a2 \u23a5\n", "\u23a2 y \u23a5\n", "\u23a2 \u23a5\n", "\u23a2 v \u23a5\n", "\u23a2 \u23a5\n", "\u23a2 \\psi \u23a5\n", "\u23a2 \u23a5\n", "\u23a2 \\phi \u23a5\n", "\u23a2 \u23a5\n", "\u23a3\\Theta\u23a6" ] } ], "prompt_number": 398 }, { "cell_type": "code", "collapsed": false, "input": [ "As.jacobian(state)" ], "language": "python", "metadata": {}, "outputs": [ { "latex": [ "$$\\left[\\begin{matrix}1 & 0 & \\frac{1}{\\dot\\psi} \\left(- \\sin{\\left (\\psi \\right )} + \\sin{\\left (T \\dot\\psi + \\psi \\right )}\\right) & \\frac{v}{\\dot\\psi} \\left(- \\cos{\\left (\\psi \\right )} + \\cos{\\left (T \\dot\\psi + \\psi \\right )}\\right) & 0 & 0\\\\0 & 1 & \\frac{1}{\\dot\\psi} \\left(\\cos{\\left (\\psi \\right )} - \\cos{\\left (T \\dot\\psi + \\psi \\right )}\\right) & \\frac{v}{\\dot\\psi} \\left(- \\sin{\\left (\\psi \\right )} + \\sin{\\left (T \\dot\\psi + \\psi \\right )}\\right) & 0 & 0\\\\0 & 0 & 1 & 0 & 0 & 0\\\\0 & 0 & 0 & 1 & 0 & 0\\\\0 & 0 & 0 & 0 & 1 & 0\\\\0 & 0 & 0 & 0 & 0 & 1\\end{matrix}\\right]$$" ], "metadata": {}, "output_type": "pyout", "prompt_number": 399, "text": [ "\u23a1 -sin(\\psi) + sin(T\u22c5\\dot\\psi + \\psi) v\u22c5(-cos(\\psi) + cos(T\u22c5\\dot\\psi + \\\n", "\u23a21 0 \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500 \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\n", "\u23a2 \\dot\\psi \\dot\\psi \n", "\u23a2 \n", "\u23a2 cos(\\psi) - cos(T\u22c5\\dot\\psi + \\psi) v\u22c5(-sin(\\psi) + sin(T\u22c5\\dot\\psi + \\\n", "\u23a20 1 \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500 \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\n", "\u23a2 \\dot\\psi \\dot\\psi \n", "\u23a2 \n", "\u23a20 0 1 0 \n", "\u23a2 \n", "\u23a20 0 0 1 \n", "\u23a2 \n", "\u23a20 0 0 0 \n", "\u23a2 \n", "\u23a30 0 0 0 \n", "\n", "psi)) \u23a4\n", "\u2500\u2500\u2500\u2500\u2500 0 0\u23a5\n", " \u23a5\n", " \u23a5\n", "psi)) \u23a5\n", "\u2500\u2500\u2500\u2500\u2500 0 0\u23a5\n", " \u23a5\n", " \u23a5\n", " 0 0\u23a5\n", " \u23a5\n", " 0 0\u23a5\n", " \u23a5\n", " 1 0\u23a5\n", " \u23a5\n", " 0 1\u23a6" ] } ], "prompt_number": 399 }, { "cell_type": "markdown", "metadata": {}, "source": [ "It has to be computed on every filter step because it consists of state variables." ] }, { "cell_type": "code", "collapsed": false, "input": [ "print latex(As.jacobian(state))" ], "language": "python", "metadata": {}, "outputs": [ { "output_type": "stream", "stream": "stdout", "text": [ "\\left[\\begin{matrix}1 & 0 & \\frac{1}{\\dot\\psi} \\left(- \\sin{\\left (\\psi \\right )} + \\sin{\\left (T \\dot\\psi + \\psi \\right )}\\right) & \\frac{v}{\\dot\\psi} \\left(- \\cos{\\left (\\psi \\right )} + \\cos{\\left (T \\dot\\psi + \\psi \\right )}\\right) & 0 & 0\\\\0 & 1 & \\frac{1}{\\dot\\psi} \\left(\\cos{\\left (\\psi \\right )} - \\cos{\\left (T \\dot\\psi + \\psi \\right )}\\right) & \\frac{v}{\\dot\\psi} \\left(- \\sin{\\left (\\psi \\right )} + \\sin{\\left (T \\dot\\psi + \\psi \\right )}\\right) & 0 & 0\\\\0 & 0 & 1 & 0 & 0 & 0\\\\0 & 0 & 0 & 1 & 0 & 0\\\\0 & 0 & 0 & 0 & 1 & 0\\\\0 & 0 & 0 & 0 & 0 & 1\\end{matrix}\\right]\n" ] } ], "prompt_number": 400 }, { "cell_type": "markdown", "metadata": {}, "source": [ "It has to be computed on every filter step because it consists of state variables." ] }, { "cell_type": "heading", "level": 2, "metadata": {}, "source": [ "Real Measurements from Low Budget Hardware (IMU & GPS)" ] }, { "cell_type": "code", "collapsed": false, "input": [ "#path = './../RaspberryPi-CarPC/TinkerDataLogger/DataLogs/2014/'\n", "#datafile = path+'2014-04-13-002-Data.csv'\n", "datafile = '2014-04-23-GPS-IMU-Data.csv'\n", "\n", "date, \\\n", "timem, \\\n", "millis, \\\n", "ax, \\\n", "ay, \\\n", "az, \\\n", "rollrate, \\\n", "pitchrate, \\\n", "yawrate, \\\n", "roll, \\\n", "pitch, \\\n", "yaw, \\\n", "speed, \\\n", "course, \\\n", "latitude, \\\n", "longitude, \\\n", "altitude, \\\n", "pdop, \\\n", "hdop, \\\n", "vdop, \\\n", "epe, \\\n", "fix, \\\n", "satellites_view, \\\n", "satellites_used, \\\n", "temp = np.loadtxt(datafile, delimiter=',', unpack=True, skiprows=1)\n", "\n", "print('Read \\'%s\\' successfully.' % datafile)" ], "language": "python", "metadata": {}, "outputs": [ { "output_type": "stream", "stream": "stdout", "text": [ "Read '2014-04-23-GPS-IMU-Data.csv' successfully.\n" ] } ], "prompt_number": 401 }, { "cell_type": "code", "collapsed": false, "input": [], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 401 }, { "cell_type": "heading", "level": 3, "metadata": {}, "source": [ "Static Gains" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "They are estimated through several measurements in static condition" ] }, { "cell_type": "code", "collapsed": false, "input": [ "#pitch = pitch + 1.405\n", "#ax = ax + 0.33\n", "ax = ax + 0.5\n", "rollrate = rollrate + 1.42\n", "yawrate = yawrate + 0.07\n", "pitchrate = pitchrate + 2.17" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 402 }, { "cell_type": "heading", "level": 3, "metadata": {}, "source": [ "Course Correction" ] }, { "cell_type": "code", "collapsed": false, "input": [ "# A course of 0\u00b0 means the Car is traveling north bound\n", "# and 90\u00b0 means it is traveling east bound.\n", "# In the Calculation following, East is Zero and North is 90\u00b0\n", "# We need an offset.\n", "course =(-course+90.0)" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 403 }, { "cell_type": "code", "collapsed": false, "input": [], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 403 }, { "cell_type": "heading", "level": 3, "metadata": {}, "source": [ "Clamping of Low Speed Values" ] }, { "cell_type": "code", "collapsed": false, "input": [ "# clamp speed and yawrate to zero while standing still\n", "#speed[speed<1.0]=0.0\n", "#yawrate[speed<1.0]=0.0" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 404 }, { "cell_type": "heading", "level": 3, "metadata": {}, "source": [ "Map" ] }, { "cell_type": "code", "collapsed": false, "input": [ "# Display GPS Heatmap from Disk\n", "gpsheatmap = ImageDisp(filename='2014-04-23-GPS-IMU-Data-Heatmap.png')\n", "gpsheatmap" ], "language": "python", "metadata": {}, "outputs": [ { "metadata": {}, "output_type": "pyout", "png": 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mZmY+Pj4rV65ksVg5OTkaiz56JdrnZPfppJyFhQVFd1JRouqfrjEfUAcbep4Q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AsK54/+ATJ/xf8zLDp+4YqIhurKsuICDDIhmltSJcVnFnmzLVyRPIrsRQwmGLe0tPb09CQk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\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oUE/tvVo15fLglfr+jf1HiGTgpP/1Zv/xVwc1+L7V5PGLYGZm5unp2aFDh4aMe4uOjl6y\nZElFRcWUKVM++ugj9XPYvn07IhNq2lQ1BKjBlaODxHN/KJVBap9ahP9NZvqGEzso8df+4dnZ2YcP\nH1a/PTAwsJZ5ijKZLCkp6fHjxxxOG2/9Ren/O1vX1QiKorp37+7m5nb27Fl044kTJzp27Hj+/Pm7\nd+9OmjTJx8fn6NGj+Cxj8CruHzx4kKKo9evXFxcXnzlzpkePHmPGjMnNze3Tpw8svtdeIXwH4ODg\ngOL+8+fPmzjuQy3NrFmzVqxYgVJLgiD69OmDV9dTU1NR0CdJEm+8wFFRUVGLgzEMu290oIMBCLxi\nEqCzikKhgJshDmNTD/a/pkoy9Pht165dUVFRdHR0YmIiZy9fWlp68+bNiIgINzc3b2/vus5jAgAo\nFIqhQ4dOnDjx5s2bMpls4MCBJ06cwNuOkpKSUNDn8/k1barqDbwciif+AMvxwevDkGFAhwwPqv1S\nGJDwH79Lt6cNAMAFSCzL1jXZhwOWOeDxeLX/3PT09Ly9vb29vfPy8uAUIPihwa9QZWUlRVFGRkZ2\ndnYymew/wfNwYGFhMXXq1MmTJxMEkZSUNHHiRGiP5+/v/+jRo7Fjx3IkOrGxsTBNOHjwIE3T1dXV\nt2/fTk5OFggE0IeEpunr16+/80EfAODs7IwuZ2ZmvtEyULdYs2aNt7f38ePHP/jgA2tr6xs3bqSl\npclksitXruCHwcE4EO7u7hppDdTxr/GFkpKSYM3/jUGBIAicSZDJZEqlksfjcRgbmJ7Xg/3HqaTS\n0tLi4mKOxsPS0rJ///7z5s3r2bOn+irFMMyzZ8+OHDmya9eu+/fvV1dXa3MCEE+fPq2oqFi1alVZ\nWdm4cePu37+P6zUBAKhBFwDg5eVVP2PIWlCLDpIjleFk7rjjP27rr9HxXyaToSJwY5w2qKOSp7S0\nNDU1Vf32Tp06aWn4aGtrO2DAgHnz5oWEhOA2f7CAlJWVVV1d/d/K93HA74q7u3tkZOSECRP8/Pw2\nb948YcIENFYQoqSk5OrVq+3atWNZNjQ0VF9f/9SpUxYWFidOnPDz84NquUuXLt24ccPKyqp///7N\np22kMWBhYWFoaAhnhqhUqry8PJ1TurUgICDg2rVr0HsWdsTg6xBEUVERatAFAHTp0kXjU5WVldWU\ny8OwK5FItFnI4RAePp8PDVhQOgnbiAwNDcViMfy9Qfa/9nICqHlPAKe+1JT+C4VCPz+/zp07Z2Vl\nPX78ODU1lRPIysrKbt26dfv2bW06vyBcXV35fH7nzp09PT2Tk5NVKhV+YkVFRTjFpHOL1lp0kHis\nR7yN+jNAGx9YEEbSfkjH4XfpXPiP6hCwrayu+4maGrU6depUp+cRCASwx7uoqCg2NhY3gq2srPwv\n5vsREREBAQHffPPN5cuXq6ur/fz8Hj16NHz48IkTJ+7cuRMAUFpaWlBQIJPJ6FeDtODfcu3atXfu\n3LGwsJDL5efOnbtx4wZJkjdu3AAArF+/fv78+SEhIVBa+/PPP2/atOktv8/GAc4YqM+PblSEhITA\nETfjx4/n8/nBwcFz5szhENz4z8bR0VFjr1YtwQKFXXzwVk2gaVoulysUChSYYC4JM1+VSgXvBQBY\nWFjAOkFxcXFxcXFN+6Q37glQ+p+Xl6ee/hME4ejoOGzYsLlz5/bo0UO9VxN2fh06dCg8PDw2NhZ5\nU3MAbzc0NDxz5gwA4Pjx4yEhId999x1Oi+FchJOTk849f/ByKCfu438+uA+o/algEy+qCcvlclT7\npSgKr/3iZeH6ASd2avma1QSpVJqQkKB+u4eHR71tYCwtLYODg+fPn9+/f39ra2t443+rrgsxbty4\nI0eOtGrVKicnRyAQ+Pv7BwcH9+nTJy8vb8iQISKRCEq/RSKRlZUVtEzp27evu7u7QCCAf8XExEQ/\nPz93d/eLFy9GR0efPXu2Z8+effv2dXFxWbp06cCBAzt27Pjdd99lZmZ+9NFHOi92vV0kJCScO3cO\nXq7fTGedIDc3d/369QcOHHjy5Amymqmqqtq2bRuSwQwbNkxjVx1niC4CCru1yzcRcJNIoFYtrOne\nmvSa9SCCGIapqqqqaeoLy7JZWVkxMTE1uX7yeDwo/cQD+sKFCzdt2vTRRx+tX7++qqrq9u3bIpHI\nzc0NZwxkMtmWLVvQW6vpc24IatFBIhU/jNQ1OVwi4IfBegzM+kENpm+QC6rfaeNF5npUdG/fvq1x\nrlb9/E01ori4OC4u7r8Y95OTk729vVetWjV48OAlS5acP38e7vju3r0La4B4yw8CZ5BWZmamWCzW\n09MzNzcfOHCglZXVmTNnsrKyrly5smLFihcvXnz44Yeffvrp3bt3a6IaWiikUimUUULMnz+/IYqR\nBgIfZAFe/9nUtVcLD7vQi197yg7XiqgbxdR0L27Wlpqa2hDtf+1DH+HA97i4uJo6vxwcHHr16mVl\nZZWQkNC9e/dvv/3222+/9fHxiYuLg+3KT58+xamh+/fv37p1C142MjKaNWuWbulNPFLjDVCcu/Ag\nWwtwbxzoZCAUCmux9ed8qeqEuq5JnPPEm04QWrduPWrUqPqdT034L/I8bm5uy5cvX758eWZm5s2b\nN9etWwfNr2HQT0hIwAtWEEKhkKPwcXR0NDU15fF4JiYmLi4u8+bNAwCMHz8+JSUlMjJy9erVy5Yt\nW7hw4TsW9AEABgYGOHmCk+lND/z3qVQq8T9c586dNQYjiUSiTrLjwbT2kq9GQLpAT08PekYihodD\nJnD4H6FQaGFhYWpqitj/N75Q7ex/TTPf4cD3GTNmjB49WqOlc1ZWFpyHDu0cevbseeLECZFItHz5\n8uTkZIqicKMYlmVjY2PRVS8vL53XtGqp6Krfpc2zwYUWJ2E46n7E8DQk6Dewovv06VONxgy1jKus\nN/6LcR8AsHjxYg8Pj0GDBgUFBX3yyScCgQB5Nnh4eKgHa7lcfurUKfVOJT6fD1VukyZNqqio+Pbb\nb7/66qv58+fv3r1bLBbPnTt3x44dKDN6Z4BXU2uyDm56JCYm4r1aePsFDrlczon7nGBaS8n3jeDw\nxUjhwzAMzPQhv4TfyzAM6hJoIPsPJ3RD9p/jRw2wzq85c+Z069ZNI1/cp08fLy+vrl27fv/997Nn\nz160aFFERISLi0ufPn3QMRkZGWjfQJJkYwzdROVQvAEK3fXGii7nqUDNsRjW5NGCrVQqG8J/wHq+\nurpUGzAM8+DBA/XbLSws1Gd6Nxz/UT0Pj8fbsWNHt27d1EN8TbZ5WVlZ4eHhcJ41/hd1dXX9888/\n7969GxkZuWrVKpFIFBQU9MEHH6xatapLly4mJiYymSwkJOTgwYON+5aaEE5OTogHq2lceBODZVn8\nZ9OxY0eNFC20wcFv4QTTN9pzagNc4YOAGB6SJCGDjN9LkiT058HZf319ffRVrBP737p1a2TNqA5D\nQ8MePXr4+/unpKTExsbCHRvUaOnr61+/fv3MmTPr16+fOHEiNNw+d+4cTuXhmyp3d3eds3y1RGpO\nRRdo8ZfSUl2D1P31TvYZhmEYBn7r6pHsJycnv3jxQv32RiIM/qP5PgCgc+fOixYtWr16NWfUUW5u\nbmRkJLqKrwEMw9y9ezc8PFw92Pn7+3/22Weenp6//PLL4sWLR40atX///m7duqWnp8fHxx8/fvzK\nlSsvXrwICwsLDQ2tqceypQA3bJBIJDWNim1KpKeno16tWkRvUqkUr9aqB9M32nPWCdrzP0hLTtO0\nqakpTP+hc3I9tP8VFRVvFIxSFOXh4TFmzJhp06b5+vqiwu/ly5e3bdsWGBh44cKFDz744MCBA3j8\nKi8vx3d4dRUXagOUNcNIDQ0Y0F0AU3C+MUbjxA4uEKoJDRFx4ufGsZTQBhrlm0ZGRjqZYKOO/2i+\nD7Fq1ao2bdrgv3Mo0ER7PaFQOGrUqHv37qWlpaFjysrKjhw50r59+969e+M1JYIgvv3225ycnE6d\nOq1bt87FxeWHH37g8/kikYggiJycnI0bN548eXLatGk2NjZN9h4bAxRFOTo6ot//8+fPa2l8bRrg\nLUUeHh4ae7UgpY6uagymtTs31BswnUQKH0jyoPSf00oK7+Xz+WZmZizLQvZfIpGoK3Y4wN+RNskm\n1Guam5v37t0bxla5XD5x4kRvb+/ly5cDANq3b7906VJTU1OGYU6dOuXs7IxTnVZWVra2tg35WNQB\nZfswOsM2K0i+g1cOPHA7rmUfLN7lS9fdAb9O4FQR6qQIysrKKiwsVL/dx8enkcwk/rv5PgDAwMCA\n4zpy6dIlfLfVv39/W1vbESNGDB48mMOHPn36NCwsDI0eRGjVqtU///zTpk2boKCgPXv2PHjwYMqU\nKRRFhYSEkCRpYGBw4cIFjdWblgVcxf/WqZ6ioiK8k6CmrTE+N01j0FdngXQLnE2Ggk5UTkStpJx7\nUfpPURRM/2v68qB3xFneagF8XfAqwgIAoqKizMzMDh065Ofnd+TIkaqqqsDAQHhkdnb25cuX8fW1\nppEGDQEeqVHpFapicJIH6XBqeSpO5xenTqBbNLCiq9GYgc/nN54Pyn867nMQHx+PRmEAAHx9fZEq\n2cPDY9q0aRynl6qqqrNnzx47dkyjPO7gwYMSiaRLly4PHz48evTo/fv3//777x07dhw5csTPz8/P\nz+/UqVON+GYaGW/XsIEDnNmvqVcL34bXRJtIpdKmGZLM4X+gkUDt/A+PxzM1NTU1NdWo2MHfkTYk\nD9AUquBjs7KyUlJS9PT0Bg4cSJIkDD1xcXGcgoFAIGgMB3IaM7mjsQGKcEUUCARowqKWb1Bj51dj\nnDZe0a1Tkl5SUoLTCQidOnWqk/a/Tngf91+itLQUzQgFAFhYWAQFBeEHCIXC4ODg8ePHc1oT09PT\nw8LCoqKiOK0xdnZ2V65ckUqlWVlZ/fr1+/TTTwcPHjx27Nh//vmnqKjohx9++PDDD6Gd/YkTJ37/\n/XeNnTXNFubm5ogPoWk6Nzf3bZ0JZ65WTS5sSKVTU9Cvh3yz4air/kepVOrp6ZmZmeHpv/o70ibA\noVIzwN711KlTV65c6eDgcOfOHVtb2w4dOsDb1fe1Tk5OdbUb0+aUAGbEBpdDuVwOPxAAACyJg1fR\nvPZ9M27MgBL/xoC6pUSdPhmNzD5Jko1RO/n3+RvvqVsQkB8DvEpR1JAhQzR+UVq1ajVlypTu3bvj\nSzpN0xEREXv37lUXz0G1AzSN8fDwiIyMHDlyZFlZ2T///LNq1aro6OhBgwZNmDChqKioOUwErRPe\nomEDjsePH6MlE/ZSqB+DVDq1FEgbIt9sIOrB/8D038zMrKKiArL/8D1qSfJwQhWM+wUFBaampt27\nd2/VqtW1a9dWrFiBptIPGzaM4wDcGKJydW0+3A/BtyyTydCWCLXy1hT6OUsIqLsDvvbgVBHqVNGt\nqqpSX1NBzTUqXaGFxZpGQkREBG5a3bdv31r8RiiK6t69+7Rp0zi62uLi4gMHDly/fl39u2hnZ3fm\nzBkbG5tly5b9/fffhw8f3r59O03TP/74Y2ZmpkwmKykpebtUST3QHFT8SqUSd9/08/PTmLBDlU4t\nQV8n8s2Go678j0KhMDIyMjU1FQqFMP3XkuTBQxXylti3b19qampISMjkyZMLCwvnzp2LHH6gZwl6\nuImJSSNVdDkUOf6BUNj4FLgc8ng82Har/mz4bqYJKrr4xqJOL/To0SONG/1afPZ1gv+0ngciPT0d\nr6u4ubl5enq+8VGmpqZjxox5+vTp1atX8UAfHR2dnJzcu3dvfHgvAGDAgAEDBgzo0KHDtGnToBDi\n9u3benp68fHxBw8eNDEx6dChw/bt2wMCAlpK4o8ve0VFRdqYTeociYmJiHfm8/m19Grl5eXVwkfr\nVr7ZcNRV/wMAMDY2JkkSWtm88fk5obCoqMjS0tLAwODSpUsREREnT57ct2/f5MmTUb4PAEBDdAEA\nnO+2TsCh41HUhoBvGTY9QL5LIBBAL2UomsQPxkVB9SBe6gT420cCJKjngSNi3viHUCgU6tYAAABn\nZ+fGFsi1jBDTeKiqqrpw4QK6amxsHBoaqv3D27dvP2vWLM7ECYlEcurUqZMnT6rPNR40aND58+ej\no6MDAwO//vrrxYsXT5kyZfz48cePH3/27NmQIUPat28Ph4U2f+jr6+M5YNNTPZxerU6dOtXUq1Va\nWlp7EVIb982mR135H2j9/8aNI86BwI3O8uXLPTw8FixYUFVVtXz58ujo6LCwsC+//BI9hGEYvPao\nbn/dcHCy5pqyH+R+A0WoGvtsG0K81PWc4R4FPj9svsP3arX/LWJiYjRaojYGh8bBfzrusyx7/vx5\nFJ0JghgwYEBdlXz6+vqDBg0aM2YMx/Y2JSVlx44dMTExHO1B586d9+/fv3//fjgRbdGiRbdv3966\ndevy5ctzcnKg8eHMmTNRF1JzBv77R3O4mgwZGRl4r1ZNFd3y8vLag772wse3hbryP/DempQC6nH/\n008/tbe3Z1l2xIgR1tbW48aNmzNnDr57y83NxT0w7OzsdPsG6zSQFub+cK8Dzwe8XuPFpfSNWtGF\n1p4w21AqlWi9EQgEUHpUS/RnGAanKBEsLS3rMRytrvhPx/2oqCg8S4UVrfo9laOj45QpU7p27Yqz\neyqV6vLly/v37+dMvIQYMmTIiBEjjh07Nnfu3ICAgO+++04mk/3vf/87fvx4SUlJSEgIAODOnTvd\nu3cfOnQobozVfODk5IQuN72KH2fn3N3dNUowOQ26GlFRUdE08s2GA8UUbfQ/Gt3k1Wl0AEDbtm1/\n/fXXEydOPHjwYMGCBTk5ORMmTMAr5Hiy36ZNG52nz+oV3dpZcrjFQW8c1Xih+hO8rk9tJJIHbTjA\nK8tVlUoFp3eBV80HtUT/pKQkjlMARGMz+xD/3bjP8WNwdHTs1q1bQ56Qz+cHBgZOmTIFDTeAKCgo\n2LNnT0REBKcAZWxsfPz48Xnz5onF4m3btl27ds3W1jYgIOB///ufQCBITk4uKCgYPny4gYFB+/bt\ne/bsqXHxeLuwtbVFP6rKysqmPMPi4mJterXeKMmH8aJOAwjfOjQqfHD+h6IoeC8AAK0NMLXHxS0o\nElVVVU2ePDk1NfXp06cPHz5cu3bt7t278VfEyX2dW+2DWo3YagIMqTDWww8EEuswB6/3uCvtT5im\nabj9gnssGOhJktQy+qs7vQMAjI2NG6N2oo7/aNzn+DEIBIKBAwfqpOJvYWExceLEfv364VkGy7JR\nUVHh4eHqrsX29vZ37txp167dlStXbGxsCgoKJk+efPTo0a+++uqLL75gWXbPnj0KhUIikTRD5gca\nNqCrTanqwVXPDg4OeKUBQRtJPkEQlZWV9KtBuDo/z0aFRv4HhXg8/aex0WCIRoeDQQAABw4ccHR0\n9PLymjFjRkZGxsyZM/FXKS0txQ04W7durdt3Ue9mV5zhgR8FpHfwcVeNweyjQA/PEyX+KMrj0R8u\nSyj6w7PKzMzUmCQ1njEDB//RuM/xYxgwYIAO1bIEQXh7e8+cOZOTGZWXlx89evTs2bMas8u5c+ca\nGRkFBwd/+eWXPj4+nTp12rt376+//jp9+vS9e/ceOHCgaRKBugKn+JuM6pFKpVr2ar1x/h8Ud0L7\nYoqi1FthWwRw/gfuYDjlXzRJHGCqdqlUCuP+w4cPu3bt+uWXXwYGBkJ7BvzJ8WTfyclJ5wVwjhGb\n9hk65NZhFAavtkGwCQ68WkLQWqjDvkiYyyOGB9pwovSCE/3xke4CgQA+qumNGTj4L+o4nz59WpMf\ngw5haGg4bNiw5OTk69ev44lkYmJiWlpacHBw+/bt8eMdHR3j4uJyc3M7der0/fffL1y4sG/fvlOn\nTl29evWkSZPGjx+v8zPUCThGPSqVqvE0cwicXi2Nfz5t0j2Ooh8OPlQoFNBh1NTU9K0r+usE1M4K\nWQgYDZH6E00SR2ERSVf79OnzwQcfGBkZHT16dPHixf3798efFo/7GtviGgJYb4DRsB4DaVHGDfcx\n8J3CEAxJf6R2RTsJlKfDV4RBHFZHtJziQtM02lLArmD1c4ZRHh4AAT9/AEBxcbHGnXFNgrTGwH8u\n33+jH4Nu4ebmBn1u8RsVCsX58+ePHj2qTt3Y2dklJCRUVlbm5eWtWLGivLy8W7dusbGxDMMsXrzY\n0NDQ2dkZF56+dZiZmaHxtk1j2KBSqbSZq1VVVVW7JD8pKUnjggFnV8ExWLX4oDVn4Ok/zv4DjE6R\ny+XIOn/cuHGJiYlJSUkpKSkVFRWrV69GT1VdXY3bhrdp00a3p4rCLgzQaOnSHojhwbVMMMWG0Rzv\n/ILLoVwuhy+HVE/oU9LYBYYDMjwwgsODa9kAcXJ/+FpvxZiB+3JN9krNATRNnzlzBv1pa/Fj0CEE\nAkHv3r0nTJjAmemamZkZFhZ29+5dTqHfzMxswoQJycnJFy5cGDx48KNHj3g83u+///7LL7/8/PPP\nP/zww+jRozWOaHhbsLe3R5ebQM3J6dXibJsgIHldyw8yKSnJzMystLS0pshOUZSFhYW5uXlubm5x\ncbE2QxCbG/DyL3hV4IVUDxSfwMPCwsJsbW2nTZu2bdu2Hj16XL9+HRcm4JmppaWlzoVPUKqP3JXr\n92NEDA9s5gKvhlniDA8yd4OfhkKhgBVg+Ch8CiY0hNDIC+FVcRjHtcnQkbEoSZKVlZUajRnatm3b\nqMYM3FNqsldqDrh9+3ZRURG6Wrsfg25ha2s7efLkwMBA/JvNMExkZOSePXtycnI4x7dq1eqrr77y\n9PR0dnb+448/Nm7c2KNHjw0bNkil0qqqKnUjoLeIpjRs0HKuVu39t3AiFRxvi2bSaozsycnJrVu3\nhmOwdHL+bwWwwAtezZKDPa5I3vrtt98OHDjQ0dFx3bp13t7eX3zxBf7YRiV51GX7DaxqwkwcxXHk\n7cNZAGCJFbZZwQ8EqWDVJ+6iJ4efG1yl0EyYOlUjAACPHj3SWD1q4kHc/yF+Pz09HQ8ZWvox6BAk\nSXbt2tXd3f3q1at4XlxaWnro0KGOHTv26NEDbyASi8VbtmyBl2manjRp0tChQxcuXNi6devGsMCt\nNxwdHeGPBwBQUlJSVVXVeJlLRkYGGv1Ry1ytWsanQE6/uLgYtsKTJCkWi8VisVQqLS4uFgqFIpGI\nY9cslUrf+mCZBoLjU1ZdXY0yHrFYvHXrVh6Pp1Kpbt68ibtY0zSNL+Q6L4PhsV63LjpoqiV4xcjj\nfV4wAYevBZkfdDw+IxN6gkKHDPj5gFflXPyy9pDL5RqNGdq0adPEX7D/Sr7fQD8GHcLExGTUqFED\nBw7kBMfHjx+HhYXhBWcca9asWbp06ciRI9u2bXvnzp1m5eGjp6fXZIYNWvZq1dR/C0O5Rn2ngYGB\nhYWFUCiE5A9njEkT+zPrHOpaSfiONm7cmJWVNWrUqIsXLzIMExwc7OXlhR6VlZWFEl6xWKxRLNsQ\ncOZnNRLjilP8AAAo+YdvH0Z2eA5oCibaFnBUsKgNGOmO6vqtiImJ0Vg/aAJjBg6aUfhoPOjEj0G3\naNeu3dSpUzncdGVl5enTp0+cOKFO30+YMOHevXszZswYM2ZMMxzT2DSGDdr3amlM9lEor8VyGRZ1\nzczMbG1tIfnTgrp5awKnR1culyMSrEePHrNnz05ISOjfv7+lpeXatWvxB+Jtus2T5IGmpLCKq80r\nAgB4PB7K9CFvA0uv6gwPRwULMGYf1L0NmKZpjcYMVlZWeIWsafCf4Hnu37+vKz8GHUJfXx86dF6+\nfBkX9qSlpWVmZgYEBPj6+uK/BHd392ZF7+BwcnK6e/cuvJyVlYXyKd0Cp+lq6tWqyWwHBX1txIKI\n/JFIJM052VcoFLhysSZwrC5VKhUiKFJSUl68eDF+/Pjx48efOXMGT0RYlk1NTUVXda7kwWM9Svzr\n+iRwrwCFkpCyr0mOCZ1NIWMDb4H0Dir+4wxPTSpYeKr1S/aTkpI0NgY2jTEDB+9+3M/Ly7t9+za6\n2nA/Bt3CwcFh6tSp9+7dwyd2QaY1ISFhwIABGqcGNjdAwwaYB1VVVRUXF+v8tKVSKS6EqKlXq6Ki\nQp0qxXX6b9R34miMGeu6AsyXUcsSorPVgffo4jzD4cOHFyxYAIXCfD7f09NzyJAh6N6ioiIUp3g8\nns7Nwuo6JF0d8FGwHw3X6cOWXfzTgAJ/KOmBt9Ri3cOxuUb1W1QdAXVn9sHbNmbg4B3neeRy+dmz\nZxvDj0GHoCgqICBgypQpnJ9WUVHR3r17b968qdGstVmBJEnco60xVD3a9GppJO7xoP9GfWfLAmcK\nI/Jow4+hsZHisKKL+i0OHjy4bNmy4cOHDx06VKlU7ty5E38gruRp3bq1bsl3dZKnHs8PQ7O6Th9g\nrkQ4NY8Ha3XXfg6QChZ+vPBThRfqsURlZGTAZkAOunTp8lbC0Tse9y9fvtx4fgy6hbm5+ZgxY0JD\nQ/FvJ5QthoeHN73LcV3RqIYNKpUqNjYWXa2pV0uduOd05FZWVjb9cJhGAgydKDxxurQQ5V2LP6Wj\no+O2bdu2bdsGXf84LHOjerHhZ1WL2/4bn0R9Bi+nHgtzJmSQgMJ3XXcYDWH2wesUJYJAIKhpUlBj\n413meZ4+fYq7uDSSH4MOQRCEp6dnmzZtrl69igt7Xrx4cezYMXd39+Dg4GYbtnCDtqysLKVSqcOm\n88TERFSWr2muljpxrz5YUS6Xc7rnWiggTY9MAiAHDdcA5AkM78Urupw/yvLlyx8/fnzjxo3evXtb\nWlridCjurkoQhM4HrUDyBNQrBCNAJwbokIMYHvzTgIMYqVeTBpCJCD6YRZtTRTKe+nWWFRUVaRS5\n+fr6NpkxAwfvbNwvKyvD/RjMzc0b1Y9BhzAwMBgyZEh6evqVK1fwzUpSUtLz58/79OnToUOH5kZV\nAQBMTExMTEygcSPDMDk5OTo0buT0amkkajjEvXrQr0Xf2eIAIxEMdhqnMMKAyKnoKhQKJNu/ePHi\nrl27Ll68uG7dOnNz84kTJ+KfHq7ksbe3R44OOgG+Qteb5IFA7psAM8FXqVT4pwFerXl4+NZypcFX\niHon+xqZfZIka6pRNQHeTZ6HpunTp083sR+DbtG6deupU6dyBoUrlcqLFy8eOHBAI1f41oEHeh2q\n+LXv1ULrgcYR6trMYGlBqJ3hgQERNqDiFV2kW58xY0ZgYOCHH364bNmyRYsWIadlCI4Hp27PXCck\njzqoV3PH8E8D+XGC18O39sk+3qBbDxlPZWWlxqYcb2/vt7h3fzfjvrofQ0vst+Tz+T179pw8eTJH\nsJifn79nz57IyMjmZh6A16V1WNrlTL3XqKaXSCToV6Qx6Df/YYr1Bu7Dg/cfoZonAICm6erqavTR\nPXnyxNbWtm3btmFhYcePH2/fvv3Tp0/REyoUCnxQRGOQ+zjJo9uEDB9KDLdE8BOoR/jmlMRBvZL9\n6Ohojb0FbzHZB+9k3H/rfgy6haWl5cSJE3v27Il/5xiGuXv3bnh4eNNPN6wF0LABXi4tLa2srGz4\nc5aUlOA17c6dO2s8TC6Xw7ivMeiDFjVMsd5ACS+UNsJUF94FUwS08hkbGyckJIwZM2bUqFHu7u7P\nnz/39vZGz5Oeno5EQaamprr1sNIhyVM7kMIHPr/GynbtwDU/9bORkMvlGnu1XFxcmswZTCPetbjP\n8WMwMjKCg2pbNEiS9PPzmzlzJqd3pqys7MiRI+fPn28mYwKFQiFu5agTqgc3rbWxsbG1tVU/BhH3\nNQV9jfrOdxWQ4YGUF4pZCoUCLyG6uroeOnToiy++2LJli7e394wZM/BR6Y3qxdZIJE/tr4jCN6x1\na5/s4wMp65HsP3nypJkYM3DwTsV9dT+GgQMH6unpvd2z0hUMDQ1HjBgxZMgQTt769OnT8PDwhISE\nt3ViOHTrzcnp1ap9iG5NQR/UaszwrkK9oot/bU6dOnXgwIG8vLzMzMx79+799ttv6C6GYThT1HV+\nYo1H8qgDV9zXKXyrrxZ1XaJqMmawsbF5634B75Sep3n6MegW7u7uTk5Ot2/fxr9SVVVV586dS0hI\nCA4ONjExacrzuXr1alpa2uzZs+HV7t27d+/enWGYysrK5OTkBho24L1axsbGGolmSNwnJyfXFPTr\nMcXpHQDeo8sZPXbkyJHJkyf37Nnz+vXru3fvvnfvHv7A3NxcNJBAIBDg+4CGo8lIHgSOIAd6OWhz\nnshbH0/864TExESNVGcTWy5rxLuT7zdzPwYdQigUBgcHjx8/nkMRpqenaxzkohMcOnRI3cGUYZhP\nP/308ePHHKKJJEkjIyNra2u8ul5X0DSN92r5+PhoXEIqKiry8vJqcS6qkzHDuwFON6xcLof7IXjv\n1q1bV69efenSpfT09E6dOm3btg1/LCfZ1y0Pw2kia2ySB1fc16lRQH21qMf6pHGuVk2t5k2MdyTf\nVygU586dw/0YBgwY8G7zua1atZoyZcr9+/fv3r2LkmKapiMjIxMSEvr166dbQxV9ff1Lly7B+TDr\n16+PiYlxdnZ2cXGJi4uLi4szNzevrKzcv3+/tbW1tbV13759v/zySwBAWlqaqakpbKuBT6L9H4XT\nq4UXHhHgxqKWoA+NGd4l+aY2wMMWTdMGBgZ8Ph99SgqFAm6L+Xy+g4MDJ6I1dpsuisKgqZL9uvZq\nqa8W9eiuSk9PR+JjHG/LmIGDdyTuX7p0CRcgDxgw4J0XbwAAKIry9/f38PC4cuUKLryD9d62bdv2\n7t1bVxrhnj17kiR5/fr1X3/9tVWrVnACTFhYWOfOnTt37rxixYr8/PwRI0b873//O378eL9+/eCj\nIiMjIyMj0ZPweDxzc3Nzc3MLCwsrKysLC4taTg8XZfn4+Gjs1SotLa19eXuXjBm0BMd1maZpjoB1\n7ty5kyZNunr1qpmZ2f3793GZbGlpKfodkSSpw8478Pqk+6YheZBks06+OvVbLTjQaMwgEoneljED\nB+9C3Of4MXTq1Kk57KSaDKampmPGjElISLh58yZKkAEAiYmJqampDezv3bFjx6VLl0JDQ2fOnOnj\n43P9+vW//vpLqVRu27aNIIjHjx/DGYQkSdrZ2R09evTEiROrV69evHgxAEA94KpUqoKCgoKCAnSL\ntbW1l5eXm5sbpyMU97EiCMLHx0f93OD2rvbfpEQi0S1D3fzBqeiizoZZs2bl5uYOGzZs6NChly9f\n3rt3r1wuX7NmDe69zGnX0q2BXROTPJxND6hLRbceqwWOwsJCPA9D8Pb2rp8jhc7RLE6iIWi5fgy6\nRbt27ZydnSMjI/F6L+zvffLkSf/+/evqS7Njx47Y2NgbN260b99+1qxZVVVVvXv3PnXqlK+v7+rV\nqzdu3KhUKp88eaKnpwfJ/TVr1ixbtmz9+vULFiyAzyCTyd74KnAZuHLlirOzc9u2bV1cXOCeOjo6\nGh3j5uaGLCRx1D5EF8LExCQ9Pd3Kyuq/k/VzKrpoAThx4kRlZeWtW7c++uijTp06DRs2bNiwYb6+\nvvhjG1vB2ZQkj3qrrTaPqvdqgUOjMQNFUW+3VwtHy67ravRjaCYratNDT08vODj4gw8+4DQnFxQU\n7Nmzp65+zjdu3Pjjjz/CwsL27ds3e/bsNWvW9O7dOyUl5ezZs1ZWVnw+/+HDh5GRkY6OjocPHx43\nbtzSpUsFAsGmTZv69Olz6NAhmqbz8vJgQYzP54tEolr+LizLpqWlnT17dtOmTTdv3szJycE1oLX0\nar0xIc3Ozm7dujVN08XFxc2tvbkxoF7RhUsmQRDLli0TCoXe3t7r1q3r2rXr9u3bO3fujIt5qqur\n8/Pz0VXdKjjp10fpgkaO+/Vuta3faoGjvLw8OTlZ/XZvb2/d2hw1BIQ288maLW7evInzaKGhoS26\nNVdXYBjm4cOHd+7c4fSMiMXi3r171zLnoaqqav78+VFRUf/73/9atWrl4+MTHh4+ZcqUf/75Z8SI\nEenp6W3atFm5cuW5c+eMjIxWr15dVVXl4+MTHx9vZ2eXm5tbWFhYUFBQWFgYGBjYs2dPoNYqBUey\nFBYWlpSUFBUV1aT2gS6S8LKNjc3EiRPVj5FKpUATlYQDV/QzDAPrbObm5s2hsNZIgONhYc+KXC6v\nrq7Gdb05OTmffPLJqVOnPvvss2+//fbZs2edOnVCfMvTp0/Pnz8PL1tYWEydOlWHJwat8OGJyWQy\nON1Qh8/PARyiCwsb2r8csiylKAr6u9Vj2tr169fx3SrCjBkzmk8TSQtOjd8xPwYdgiTJLl26tGvX\n7urVq/jOXSKRnDp1ysXFpXfv3urMSXx8/N69e5VKpY2Nzbhx4x4/fhwaGvrFF19IpdJDhw75+vo6\nOTlFRkZ6e3svW7YMf6C/vz943Ye5JohEIpFIhHy+Xrx4kZiYmJCQwFE+4JNDaupslEqltTNXnDYu\nkiQtLCwUCkVJSYlQKHwnFT7qFV20Lm7YsIEgCH19/dGjR5uZmf3yyy/79+/fu3cvTrK/M0oejvoe\n1CXZB69XIOoa9GUy2ZMnT9Rvd3Nzaz5BH7TcuC+VSt89PwbdwtDQcNiwYSkpKdevX6+oqEC3p6am\npqend+/eHZeUKZXKgQMH5ufnV1ZWKpX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"prompt_number": 405, "text": [ "" ] } ], "prompt_number": 405 }, { "cell_type": "markdown", "metadata": {}, "source": [ "Map tiles by [Stamen Design](http://stamen.com/), under [CC BY 3.0](http://creativecommons.org/licenses/by/3.0/). Data by [OpenStreetMap](http://www.openstreetmap.org/), under [CC BY SA](http://creativecommons.org/licenses/by-sa/3.0/)." ] }, { "cell_type": "heading", "level": 2, "metadata": {}, "source": [ "Real Measurements from GNSS Hardware as Ground Truth" ] }, { "cell_type": "code", "collapsed": false, "input": [ "datafile = '2014-04-23-GNSSGroundTruth.csv'\n", "\n", "LatDD, LonDD = np.loadtxt(datafile, delimiter=',', unpack=True, skiprows=1)\n", "\n", "print('Read \\'%s\\' successfully.' % datafile)" ], "language": "python", "metadata": {}, "outputs": [ { "output_type": "stream", "stream": "stdout", "text": [ "Read '2014-04-23-GNSSGroundTruth.csv' successfully.\n" ] } ], "prompt_number": 406 }, { "cell_type": "heading", "level": 2, "metadata": {}, "source": [ "Roll-/Pitch-/Yawrate" ] }, { "cell_type": "code", "collapsed": false, "input": [ "plt.figure(figsize=(14,4))\n", "#plt.plot(roll)\n", "plt.plot(pitchrate, label='Pitchrate $\\dot\\phi$')\n", "plt.plot(rollrate, label='Rollrate $\\dot \\Theta$')\n", "plt.plot(yawrate, label='Yawrate $\\dot \\psi$')\n", "plt.xlabel('Filterstep')\n", "plt.ylabel('Turnrate $(^\\circ/s)$')\n", "plt.legend(loc='best')" ], "language": "python", "metadata": {}, "outputs": [ { "metadata": {}, "output_type": "pyout", "prompt_number": 407, "text": [ "" ] }, { "metadata": {}, "output_type": "display_data", "png": 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XyGOhrD5J3LvXoM7bHpJzAaf0jlbW5KA5uQHtvk+JSP8eze53QtevbhLu784a/T5W5k6g\ntGVtT3elRwj38ROEBiFYBcFs03Go+nEajafmpueks/FUdjva1P+iKj/W8b5+UNhtqMvSiNzipeWz\nWcgdCakzYdWIb7vVdu+h6x/UrhRj1u56n4RXJjsTjZzO9MuCnkdZlYl257vQBYFdEBhVdZbz70Bu\nx6eTyN0fAlDR9iMA+SPk9arSNGK/+gUJ/77Eua92p++E2ttlqTyA4WjZMtkVufRYIuWNkcR8/ygR\nR5Y5tzfGw6e3lrG/8mG/x2+I/4w902HXDN9tmWPhxDj/5/UmFPFdp4uqGNkVNGbZ71FXHCPus5+G\npF1V0T4SXhqPJvMH3402S4dumAn/voTYL+ejLtgDQM7IkHTrnOZ47b8w2mrYVf7//G7PrH+bouZw\nn3sIBMERglUQcho/JafxY9YXnZqbnqKlBozNINmRgC2z4OSYAPsBmhOriF73FPHvXePaaDV5ZhPs\nzHkNnoKEwm6jMSHIAV2oPXK66dBX2V1T2VmtZRcShUT/8AzKliqitv/bcXCnjz3XCUc/84T/XE70\n+ufOWMxebybk4+dVU+pMoPB6l0ntBhlVTbbPvtHrn/fTgut5VwZ57xoMrgK9//5xrHxuUysSUNUX\njk6Wt+U3feX3+Kb293GFn5Cw+mTYcWnAU3v2VnK5dnd2/DTpriyKVrvLwmi01nXupF0gcusbqCuO\nd7jfUP91kJFUvgWtYr/+Fcq2OmK/+qXPtoRXJpP44ugOa5cBqBqLACge2uGup52QPHtWM1Frn0Rd\ncObfw2Z7c9DtVfod7Km4P+g+4Uw4fvsEoUcIVkFoMgd3F+kU5jYSX55A0gsjQLJTMhiyxsLWy+TN\n7tN1Tc5mAFR1BT7T+Pj3riHx1fNRVmWirMvv0JUFAIWXP7PNgj2Ix4eq6qTbUu8WJCR3y0IwF0sP\nAawbgbPtx6fXLej6sSHEaDRQUSFP8EwmI+XlpQH3jTj4JdHfPNjpDJHnOpHb3nL+ra4U6fRDzhmy\nAtqVyoBvLef6TtankuyuPmsPfO65rf094i5UOTCqIT+xmLwR8O3NkOlmcTLZAlvMJeWpvXG7Y1HX\nrHe57RmsVc6/j9aGPiYuapP/IsDeXHbI/3rz+Xd4LFe17WDFtToaAigKFW11snBtM/nfwQ1JJRfd\nim3tYMcwQXvgCyJ3f0jcJ/N64Oy9e94gEJwJzl3BqlNWjlN8SUgSynYrlGPZrHYtbr8EPvg1lAyS\nl2NW/JGo1Y+xK2oJy2/BQwhyuNZE7v2UhDdnyK4sASbONhUcmQwovaQouwXJbcRtjnS+kgSShF2y\nYnMc0sPxRcF8lavbUllZeRnFg9tXBBGYlPVuAeFdFKwkwKg0YbX3sCXPbucff/w5D/3+Fzz33N/4\n2d038IeHfklu7km/u8esfATt0WXOzGxIEpGbX0W7q+MaOKEg3PzMozb+y7Vg711lBiJ//Bfxb0xH\nc3zlGXsmQz5+p7HYruOeSJLEmpvjWHuda5N7rJNVA0cngeQ+vkHup6LJpbho9kpqp7dWAHDvb3xd\n2n5eOpbVF6rZ6MfJ4WTZP4l792rncmO8a1tLLHxxFzTHBuxSp/E3fvm6r6ho3YLkds25Q/y/14zW\nOrDbMe1dxD+f/hN79+48pf5ozZ2fZqitkKgZ3+F+W0t/Qm2yjc1+wtdOlDzBV3eAUYtzjC22FjLr\n36HN4sf6qJStYSN6Qc6KLj17AX6/pzWmsX2u4I1NMmOXete7sycIt2+f4PRwTgpW2r2fkfjcUJRV\nwauAn1IxSGMzSU/2IeGNi9watLPNLdwgo/37sWaOa13k3k/ITSqktg80JPrpu7v2tD2znz+T/57p\ngMI1vKri/USmfoDdbcQ3Ft0AkkTi88NIerIPKwz3sPBnvV/ntKN8PkZ7nWsSFWzi5nYPumrBWXIb\nfD1+CctyTsFHxHTqatCWda9QUitru48ddal0//7og5jNnhpZu2ShpX0iqElfDUDE4UVEbXmV6B+e\nRdWe8l8AWIwe1ioA7aFFvcrSF7X9LVT1BcQuuQ91zpae7o5fNEe/RZO5PvAOp+t+Wk3Ev30p0d/+\nCQk7ZclNlAx2KaSi1z3tsfvuGZCndqVL16SvCty2xVXLyJEUyIFNMlJbW4PR6FvvqKExkmM/DPDf\nZuEmqDpOa3t7qRd7bm6Lhn1TfQ8LRO4I905ZAloGdaZM9lc9zPayu9hb6cp+aJJaPPZb//o4Vjw5\nGZtNwpD6P+577QPS0o/z6oJnWLngAepyuleCw96FWYZCAmWrryuiIoDlyaJ2XzCA3cZx/Ue0xELG\nWECyoS7YzZGMuzha+zybiv3UVVOpfdf1clTlR0n45ygi0pb6buyuhViSgn+v7Hbi/3MZMV//yusw\nO6vyJrOm4OIAB/pS3Ow/y6ZAcDZwTgpW0av/jsKiJ3rtUx3s2bFgpTn6LZGbX/VZH7n3U9+dJTuW\niE52Evkjo87eTNS6pzGroaK/l9Aj2VHWZAc2+VtcH6P4D+cSuet9TG7nbzQdA7sVhbkNCTDRjEnr\niEfoWfGqK77KyqaKwBvdBCtlc2WX+tDoR7DtCuqsjSQ9P8zv76Mr/OrTjQG33X3X9Sxf5orf2FZ6\nJ1/eCVX9QHtE/ujGfPtn53aPwqmnibDwM7eaSXp2kKe1qp0zVXepq6jPkFDcmfjGyA3/RJOxFkwt\nxH5zP7Ff/cJju+f+dozWeuoMh6jR78NsCx6H0VnUxQdQ1eSgPbTII8bI1u4BbfWT2bmx1JVYIuL4\nd0Sv+pvfthWVrnggpdfl2OwmPl/4AYGwGPynlLZJFr66Q7ZM6eLAdopfX3erWMyqv5Lw2gWA7/gZ\nrK7fc1GzfP2K2nz2uen8DM1qWuq02G1K3n24kp+/+RUtdpfA8eXeLO77+1+xdWPSLik6/y1RSqBs\nrffdILkyC7qPmbNpcxtJzw4me90Ej20Ku424T24lL+IA4LI2umfMdbgCurOjbD5tlsDu1qeLzr47\no1c+gtLYRMzyh3w3dtNCHPfu1SQ9PwxlfaHf7THLHkBVnUWEV7IQi70Zk62eNksxnZ037K/quExK\nOBIW3z7BaeecEaxU5ceI+fweVGVHnOscAc7qglRiPr8HRVOFh6uEP791yWvSEPvN/URteRVltadb\nlt8JWwe1o3z2lyDu87uJTP2A72+A7+ZCziiwqGDljZCl+4iIE2sAqOzne7z22Aoit77hsa7Ju6SI\nw5XGzWtQclvvD82J1cR89SuUtbnEfPFz1IV72ps6M8KYdy2MhDdnBE7h61WM+XRgtjVR2LQM5aH/\nEf/vS1G2Cy9RG1+S/9/yaodae2X1SZS1ed06/6JFnzrvfbV+FxAkw5V33N05irI5iDDuJ1C+N3Ba\na/m0ozmxhugl9we0bCrqCtDu+YioHW8T+/X/Q+Ev85pbfJKELACtKZjOxuLr2VxyEytyR4T8XSG1\numKEHIKVyY8Sy916EpGxFu3+hX7bKxvgUqopvPRrbZZidu/e5lyOSvC8B5VZ8fjDrpDQt1urFv0U\nLH5+ZlJ3s55L7YojU4vPJgW+jUqmBo/l9B87V1D58cf8TOQ7wN4FwUphx09vIaLduhj//hyPMXM0\nrarMQAIOj3UJTApAYWzmwAW+7Wn3fuJa8PO8l7duYHfFfZ3ud6hoMB5jfeHVNBozut9IN4Rfdc5W\n1JVy9uOIAGVJIo65ZfNzSwri7irvDC/oAOE2KDibOWcEq7iPbiYieyOxn9/tXKdsrsS88BLyd89D\nnbORPZlz2Fh8g8sF0G0yXJn1Coa3k/n2RD+yGz/xbh7t4cXEvXNV8Mx9to5fOu6foGY3Iaimr/x/\nwTA4PhEqUyCt4UXU+bL/+yo/Hg7gGzRc6fb91CgTnNot9/NKCoLGI8Uu+g0RmetIeGsmEVk/Evfx\nLZysf49V+eeht3ildQrgk90RwXyVlX6Eg0ApfFWVIUqV70bU+ueJ/d+dYLejrMtnT/Yt7K18kCPl\nj6KqySZ20W/aO+rS+GpTPyDi8GJn5kcPbFYS3r6MhLcu9rhXkiSR1fBhp/p0PCOVjPp/O5dtAeQn\nSRvjf0MICQs/8wC/SQmwWkNjUTllQpz0wWrXe7zbYj/7CXEfXO9UjGBqIXbRr5kdX03ch3N9jm80\nprOydDqlmU8GPY+yTlYQ7J0KX90BFn0ZFrtnkdxaw95TuxhJ8hDgIte73P4cliB/Qkpn3NKsSjBF\nupa9m0ktf9BjObaPmYnXeD7XNqsfYcZrleOd7s6pxlhFpv7X4/lrMmWztdT33eh9H2rzO3fi3Nxs\nl9VKktAcXYGyoSjoMYESJimrs4j7j2eQlFJqj40KgMLimTDE8Z6LOLrc55oUEigbijjopwZZ1JbX\nXPsZmz1dCtupMxw842nsW4c8Q6PpOHs6EOoqE1oDpuKPyFjT5fNq05Y4/3ZlwnXho/SzutxgrXbX\nmLSYO6cctEu+rp1We1tIFS4FTUupbNsasvY6Q1h8+wSnnbNasIpyS6PreCEr3VwAlE3lrLg0h90z\nIHsUFCZVUm88hMEqu4wp6vOd+27jdTLGgllj53D1Y7SaizxeupG73kddmU70hsAZlfxqd9upTZb9\nxd0/Dutm+99X55YJSV8rm547M2HwfmX1jZruEqDcLVZKiDi2ImA7Bi3smAn1bq5yR2qfxWCtJOvI\nfJR17fdNkkh6sg9JT/ZBWVfgt602Sxk2u1FeMDb7nfAq9I0eMQ8Bf7Z+JqIxK/7os06SJJrN+Rit\ndRysehSd0TPWTtFc5dcC6CBy5ztocreiqjxOwpszqFDK2sWCYa7j5W66pJvo9c8Rs+KPJL48wbs5\nj8xVCn2j8z6Ut/5IWs2TqLWy8Kv1Vp278eZbz3Cs9kVXk+2n9q6FpjD7xoWci1SZD7Frhq871vZL\n4ZuqGT6/iTONQldG0tP9fTdYO85y5g+LvZXv8y9gc8mtAKgqjqPJ24G69BBxH98il3MwuIQfhR/F\nyoGqv2GIwithgO+sOXL3RwCknS8nZcjt6+uCq7d2zS3XHWX1SRJeHEP053fQ1C4PqLJc7kn+XAAd\ndMYiZPUyYLj/RiQJlj7maQ6++O4yxszydF+z+knYoGjrOI15TZD3TmdQ6lzua+qsjRzN/Z3PPrkl\nLxH98Q3OZbsd2ho776Oeuku21mky1hD7zf+R8Pq0wMozCVB4fnt0cfJvSVr7IDqTp2VGIcm/mc7S\nFA8t0RBxcoOPMiljHOTk/r3DNvSNaXz8Czjh59XcYm7/ltmsaHe+E9BNLtSYbLqg21dfXMCOS6Gm\nj1ymJXLL69BcTVvlZhSttc79VKWdjIvrwJsmatNLHssqt/h0mx8hqTO4C1FNpiyW5Qxlf9WfgxzR\nefSWSvZVPsS20js91lvtbb7KX4EgxJzVgpVy7zvU1P8A7VaC9PFyDSl/n4D6JNffdslKRNpSVDVZ\nHvu4u9GtLphGatm96KwqLJKC1vavr8IYWNutqgps3l92K3xxp6ewAqDz8iqRFKBy8yrLGh2wSRd2\nuX6Wt6BW2baF3ArZVdD9nuy/EOzpizwmcVHrnnYG+u+ZLn+Elt7meypVZToJb85A0VQOVqNzfcyS\n31HbusejRsr+ykf4Pv98vskZhGb/QpJeGEHMUllT5/BVVhfuJfHF0SQ9O9hZ8NHbFRBAHwnNh18k\netnvqSr/ip1lv8RorfdrJTxe9zJrC2awMm8cubr/8UORp5Yp4sg3rLzJ99ocrJkNxgh8aqQ4YjGU\n7fXDFC1VBEOdu42YRb9G2ezaT523jaQXRhC19kn0Bln7F5MsX8MHI/NZ9ruJvPHsz3n1tQ+IcBO0\nmuslD29Dh5bYR5tsaUOhKyN6xR/JLniSA1V/CagltNmNVLXt6LR7h4Nw8DPf3PQAxyfBlss81zvS\nY+fq/LuInSniPvHzcIGHK3NXaDUXY7LVU2vYK8c4KdWknQfv/1p2G1UX7HYqfrYH8JJUKoK7SNYZ\nDrKjbD6tNs8GJD9uPxHKYAX1ghOz9H6UhkY2XA1f3wHlKZ6KJccE2xDpe6w+quP2vYVt9wm7qdXT\ntBEVbyEmyUJUvKdSx9aFTHihRHtoEYefuo7olY8Q98U9aCp9FQQH9W96XJO+0Xdc7xvi6VI458+u\n2MziYllHO0lMAAAgAElEQVRJpqpweQPELL7Xb3+UDgOp2+348SrI0y1k0WXH+cYrPNg7ng18x0Pv\nNa6LfyL/b/a6DF0C7BvhG1PqXSg+L0hhYFt9FtX63WgOfUn0+udJeOMi7JKV6rZdWO1+lFR2O5Gb\nXkadFTguNhAmWyM5afLfRlvn4jzboiBm+UNEbX6F3NTr+L7pbg64WeiiV3YylsliDLzNakKp8xRG\n4v/rEsxtUveUdTV613ciV/c5AAVNi7rVljcWt3pa7knI1hRczKr8KR5xh6EkHL59gtPPWS1Yrboe\nNtf+kpolsipq5yVyDalKP4pgd393g62amOUP+RTTrfY6buXCY9yWM4nrTp7HzdmTabEp0WRvQnPU\nf2VxRQfJE0xaPNIFAyz6iTyRd8e9X9bOJDSymckYD8VDfDcdNP4H8NTkHpsM/7vHFeCrLkglMvUD\nOW7M2OwhYFoCaIcTF0zxyO5UZznGprJbWJk3jqPtlpX8Jlcx1pbdckByxPHvUFWeIGr986gqM4j7\n+GbnPoo2WROncEtIkT0KTBr48k5YG/8uTSXfsLXlYcpafyC97lUkjedMqvLQI2TUv+m/06ZWOVZL\nEfyxKBkCh/z47bdFww+XKniocBSrVn0DKi0mDWSNwiPNPoDm+HfE/e8OIk6sIfq7vzjXR22T+xa5\n5yPi1j6L3QZNlfI1aBV2VoxbxoGYJxkyKoFNEz0F9dpCl5ufpICGBMhX7PEQmhVmPVEbX0Z7eDGH\nzR+Sp/vCR2usrM5CWZXJoerH2Fr6E9LrTi35Rq/CYqQ+533nYu4o33TaPY2yoRhVg3/NuLosjdrD\nT9CgT+uwHUmSKGr+llZzMXqra2K0qWQuKJTsbU9esOlKULbWOC2n7r+XGv0+fii8krqmnWiqXLXz\nHM+9u1C+sfgGyls3sHTKZu+e+PTN3O4aWNK8mvWFV9FqLu7wegCwWVG3a8uL2pN15oz0dDdzTMSX\n3ep7ePnA4M2nzoA1Xu/gzLGuv1vqPC07l99b5LedxvIozIYz93lVIN/lXTPgcN80Ig5+iYTrHnnj\nfr/crWvDpjby6ydPcMWkIlaMPcnM28u446UTJA02ckm8PFltzT9IzBJPS1jEidU+SpxhZS5Byf18\n7kpMn+vwY5Tf6ZVs7vO7PJetalh5RS1feK0PROKLntpIdRBvvw3N97Kl5FZKmuUYLwnIrP8PW0pv\nY2/FAz77azLXErX1DeK+uMerkybUOVuDCjDNpsC1Kd2fM2WjZ1INTa7s7nZwlPyMe36bJCRJQmHQ\nyWEDgVK06/0kDGkn7uNbUJcGKDAGKAq7l45/V/lv5OuSJFRNnnOjyK1vyElKuu0a6GkNc+DwRmoy\n+RYKFwhCxVktWNW2+7B7f1zMGtn17shk1zp3y9DBEvmFqfOjVC06nMjKZyZRWxBN0WHPL0SWIRqb\nEnIy7vexPLVGyzWrOsLgR6Na4iYQWdRQ4ZbNN5jbiwOF1UT+sMDbJXy1fQBHdPKEOuKoyy0w9sv5\nVKZAW4OGmoIYdAmQ5nYf3QU0VflR598VbkJpZr2vD3e1mwtM/DtXcqUyjbh3ZJ+josGyAOUQeBRu\nP9vNV8jZsRwa2OW3uNox2xqw9xnlWlbDtliXMOdN0vPDiPvsp0Tu7jiuKX2862MnSVBxMg5Ds5pX\nPzuPDEMMny/8gPTo8/jxathyBWy5XJ5c2BWQWf06xg2uiYnKrSito14ZyB/8kmOuH5Ii2TUD0Jnk\nZClfjXZ9IE5uc93kvJGw5HZIVX9CodvvX1lfBDk/eEx00nJ+Rdx7s5GMzWQ1/BfD17OIfedy8pvk\nbIO5jZ8BUNG6mayGDzv0g+/Nfub6Db/hR/szHuu8FSgAmvTv/MfDtWOx+6Yl9rdOWZWJ5oT/mAej\ntZ4TdW9isFZhbchBkfY52G0kvC7n3JaQay9VucfibHmaTTEfsaHkOuLevRqFn9TUDspa17Kn4n5W\nF0xlT8X9zvVNppNosj016hmsQ3N8JVV9oeAvLmFie9nd6Ewn2FF0O2q3bG05o6AuCVbmjSNzjO+5\nHbX5HNfhTWb92wCkVvyGRlM6h6ofD3gdHlj9a8f9Way6w7FJUJ/suS7XzaJh1ssakoETm7n71XSS\nBvmfKO/+cjg/vNZxPaZQYVfAipvh+CSInSt/bwqDvfPd7ldFpuvjN+7yOgwJEutmg26sldEzGlGp\n5REcFSVf68ZjuUQc/w5NruwSmGOI5LOa/kS86pZmEFmoUvixWElBZh3+LFaZ7bcx9uNbAx5f3adr\nVnVwKbs6k1tj29BULCpYOg+O18lucaWta33207plA056IhlNewa9qB+eI27hnUSv/kfAcygUKsZN\nk/8eEisrFNVZG8kueIIl2X04UvMsANErH+6wvwYtHDpfdrX/IWsKB7eOIuaz29HufJeIw0tcbvOS\nhMXeiuTtCmg1ozm5gaQnklEHcCeMf2smACX5L/nd7o3VrKAsPR6LSR5As72RJdl9KDn5FFUNbu9I\nSSJq08to9y9Enb8jaJt1hsNkNXzg802ySa7n0uGR4m65UitdNRQsNt+EL92lN3/7BGeOs1qwcpA3\nsn1i3k5LrKzN3DZJRd7eZMwGpYewopP8a0/tNjiwbChWs4ptH/n64D1aMpLUi2DvRbKbXG2yHItk\njICtl/lpsBuUDfJcDjaJeP/X7XVROojL2DUTPv+Z7/pMgzyxtse6pB5Ne6D7ulcnsP2jUTwX1Z+9\n092OGSd/5IsGw/aWfzi1xzlu9x8g4pCnyX/3DNmlB2R3yE9+AdsulZfXXScLUE1txzHbdB6CFUDJ\nYPyjUKBov/ZdM+Q2A1GX5gp+70xadrsKPt//Z+bnjmP541NI/XwEa16a6LHPwz8WUNRfQe7uPiz4\nYApPXhDPR7+Ao42v8M082DlTFoyVBv/+9ArJ06Xo+ztdH4ZDuT8HYJjWzCCNfI01ef6DE7InxTon\nt9amAj69s5n//j/X9uqIYtTlR6jb/xfSap7i25uhro9ru8XezOHqJ9hedjdpNU9SXrvE6Zbp7Gtr\nLdZtT2HVdS+z4ZkiNdnXRWftHFyFsdtRtjUQuc2/ZbOkeTXLc4aR3fCRc12+7muW5wwjs/4dj30T\n/nM5sYt+DWUHaDUXAaAqOUjk5gVsz7qS43Uv8V3eJJbVXMKi6L/Suts18SodJD8X37qMttS4jYu6\n4jiR2z3rcLlTb3QpNix2z8lD1I8veiwfjF5HRt2bbJsFxkjYNgsy6t/G2i4smrwSCujiad9XYpuf\nd5t7bT5/8Z+J2kkeMaoVbT+C3cbRmn9yoi6ARRmcWVDdsau6J1g1xXac8txiVJK7PxlTm9yo439t\ntK+ZY+6jnlpws17NulfHkbtbHrRuZ/zrBKkXeybDUADVfpJjOHAoVuqKojmx0fXxSxrsmpBmjPPy\niHCTQMx2Bc+mmbgqcwr3F47ly7oUbsw6j2WPTaG1XkP+vmQkm8sVMJgwBS6v6kBCTksMfHzlbvZM\nC95OIHJS+7DhzbGY2lQUDoXskfL3IGNs5wQrgKIh0ODH2qYqTUO7/W2w29F41ZSM/eqXAGgPfdX+\nv2/GvcKmZZyofNEVa4wsGCiaK1Esv4fDZvk9c7LhPZpNueDmYl6XLLszf327Z5u7ZsL+qfD1Lc00\nKSrIGS1nEo7e8DwxK/6A9sDnqIr2oflXH5bnDGPDhZ4x0KZ9L7M/f77zm+wPVW0uZlsTJ8cG3sed\njM0p7Pl6OCc2ejaaqvzQo7RJ9Hcu98WIbW/RbM4LqMzbWDyHtJqnqWiTreQKg47ITa9gr/PM0my1\nGzwUX1L7u6dGv5flucNJr3uNQLSai/27fQoEATgnBCvwDLjeeYn8/8HlQ0hbNZiDy3195FrdikJa\nTErSvh/IiiendHieg0NcX6Jlt8qxSAvvlidJp4OOLFaHzwfJGsR/Gkj3E7TrQFmTjT15RMDtGZtS\nMLWpsNtkwdOkV7H5ClkYKk6q5uN2YcahBTa2qpAkiF7xJ4ytnp1fdSN8O1fuc04anPTKerS26ees\nyB1Fm7Vz9UUUKFG1p8E/Pin4vhujA9elCcTKr9WUW4KksAK+feo8jqyWB3/v4uG0NLtMg+kT4Jib\nLGZVwfqrXYU/W2KgPNN/6ua2KJeQ9deBrpiWmnxfv7aCAa1kj5IF1oK+/q0wxybCppTvnMvuFkyV\nIorsRpcQYd/wR3JWDGBryU+x7vwnCf8ai/Lt8Swb+F+WVV3M5nUfg7mNTmG3o6zOOgWXj9DQ5Oc2\nR+79hJgv5xP7yTxncV6b3URqxW8AOFzzhHNfR9D10drnneuiV/2NlhhIOw82Ft/I6oJprMwdT+26\nG7DveY0Gta8Af7LFFdtlcPtpScjC3/dXKpwaX7sCInd/iLW5mOra77B7168JktnTroDWeo1H9roD\nU+VJpiPO41jtP73ac/159Dz/We384S+teLR6EFkNns9c8/e3ktnwNsfrXsISoNaVdzIWkJ8bd6HF\npsJZJDsQFf3l+KxV7aEi+kj44Rrf/Q6vGkTaqsHs/mo4AMYW+f0eEe1bPiGun6/VpK1By5HVg2hr\n1ASN5eksVrNr/B0YW1Ue9zgnTbYYBktolN2uF6wvcX3oBk9uQuF2H73dJucNcllH52Sdx+46/yf4\n4bUJHP5uMIdzR/l1BfSm7EQ8K5+eTEVmHGab7/UBrG13hz8S4BNcXxxF9s6+AV8jR9cMorkmkqwd\n/fjhWpeic/ss2Upmt8n30WxQYreBocXXx37j1b7tNpmyiP/gOqJ//Cea48GK3vq/AXWGg+ytfJDj\nTf+mqXip89lrMB7jZP27zoRIDtYWzmT3RNd748BUyBoDTV5W91w/vzX3UAZVySFivvk/itqnPiX9\nWjGroXgwlA6ETbGfkjVG/iZX9/Fty8GK9hPZLAr53tkJ6AKbvUNW0OamBn9xaA9+RV2SHD+2JyWV\ntQUXdxh7ZbRWY5esNGz9Deodr6P97g8e2+2SySPuqqFZVhAfr5WzJqfXLZAtZT88Q+SmVwDZI2Vx\nVh9WF0xlWY6n9lZVepjolY+4Ev7Y7UStfYp9X3uWtxGcm4RfyfF2NmzYwCOPPILNZuO+++7jscce\n63IblSflYKHyjASMLWrsNvmD2Vqn5dgkIy11EUgSbHij8y4dTZWRRMV7ugTZT2PpoM7EWFnMtQFe\n6x2T8O9LnX+fGAcnx/rO177/p6fUYnviJNHIGiGjSUmBScOmd4fQWOb6iC8HeBEGn9dE+YkEZt5T\nwtDzm8g0R5I43AiN0Fyj5d93WYgIUKi5LD2e/P3JXPb/ilFH+H5Ri5qXkzMShgYpWeSOUQuRnUhw\n1NaoYd2CINJoENYtmIA2xspNj2XLv7/JzeSNkJh5VHa/KhwGBcPhpCaCvIk2qpZ7Fx5zkTEWJuXC\nkAhXp7d/PIq7X/VNMb/vIjkGDE74bANZ4+2Oew2g/lUGjzT9zn3121nWfzt4Jl4ivfRxpnz5OPF3\n76FeUUSMZjBJkVNQVGWiUCiwp0xEWZ1FwtuznMcYrn8a4zV/dS6rivdjTxyClBDIHNk1jtW+RJ1h\nf0CrwdobI7l9racCYs11UDJ4Aw98DXELU2n76X/IGur5bCsMOox4CpH63MWssv0RJiD/c8Noq2XD\nNTDFU6HqJHcUjC+APo14aIItGtg5VsXKZ+Rn7ZoH8lls1VJWHc2Y/dOoHipBPVw+6H9EawaTUfIM\nW/6nI6d8AuMur+P4+oGMmVXHtNvkSdl3umR+eE2+txOuqWHQhBYqTsaRtb0/Ol0r/Z+vQFcRRfau\nvlz7+wI0WjvmLhQ3d8dfKmurZEAteUo/J6P2Of8u2XUHo6/cAEoVFlsLpS1rGBJ3C1F+Zs6SwlOI\nqO7raTHzR74sJ1HVX37uts3yv19lu2KjrjAGq0XhtO74E6yCkZPal+FTG0kcZESphO0fj6QmP5Z5\nz2RibNaQMNDoFGrsNmiqiiRxoNEn3HPVC5OwW5UkDdFz6fwSyjPjObZ2ENNuL2fMpa7aVNsug/OD\nJLY8fL78v7tgrdYGFsQBdsyxQ8ehfU7Ky7UMdwhWfubaep2axooo9rQLrbu/HM6dChstz6q546UT\nThdE8LQUmfQqjq4ZyOiZDfQdIWf73fKB7I+akGJEG2clIsrGiR9TGHdlnYe7ZnVurHzNagmTXkVb\ng4Z8A2z7aBD1xfLvMbaPidaGCOb8OS+gq6eDdYWz+L1CFs5UjcXY+o9Dqs4h3xjJmEgjqvbb22o0\nUm/VMkLreldnNXxAWo3sKWHWK1myaB/1faNoTJE4vj6W3BlLGDZTtprqdRoSBpiwmhUs3B/LcIuV\nlDGdVF65sWOmnPxqqg3Sm9RkmhKoHWCh7wg9a69zL8fiSqFeNARS6qHeosYsKfjalszawv5MS2om\nLq+OlDFtbHhrHG0NEfQd0UZdUQzXP5JD4kATZoOSI6sHMXKGZ8KQtO8HkjzUwMDxLdhtCsx6WeGa\nONDE++0hE3GtrgyRR2ufZ3TiLzHbmtla+lOGx/+EYWnp0C4YRh5YROa44xwfvZPRKhjnlYQ4T/cl\nCVqXFjO9/lXOz7BQM3i3c13cm9PZNbaQEUXQP3EILScX0zBIS9Ig+TmUJAlF+0Ma/4H8gpGUagy3\nv4EmexORu/9Lswnq5l1C33jhEnguo5DOVFXXEGKz2Rg/fjybN29m8ODBzJgxgyVLljBxouvB2bJl\nC1nR1wVpBZY91rEFKhBJgw00lkcx+6E8rGYlOz6Vfd1ikszc/PiZC4wcVg63bsb5MvLHnXHfsz/r\nNkq7MUe9ai+0xsAFmXJCC4D6kii2vO8nsKIdTaSNkTMayNl1irmD27npH9mY2lSUpSeQvdO3zREX\nNTD9znKqsuLoM1yPWa/C1KZ2fnSv3OeyUgZj+jGYeRTaIj1dIy89BHunQ21hNJVZcVScjKe52k/K\nsW4SnWRG357u+Kr7Cig6nETxkSSUKjv2dl+l2D4mbvqHb3DzjdtgeCnMznD9lu9akO6hee4OfRp8\nY01Ohcv7vENq/Z+J1sPN5xcS+9JITo6RhYjMsTCyBGoeXEqd8TDn22/hYNpVmDVw6XW1GK01RKgS\nUSoiyNd9ybHaF5k3+ihVWS9B7ABGmi8kXVpJn0F30T/qMuwKC0qFloqWH9HbqkhR38hHGy9hwLgW\nVJrOve4m5rgsptfthFGl8oTk6GScSR8ALjnZl7jaOjZd6Vpnt0Fldhz9RrYRERV8shoItQlK8uOQ\nJIhJspD33QAKSgIL2Q6Gnq/DalGijbZSdDh0A3jLE1lEJwZOyfzgV/Dhr/xvm5iLj7vQqIRfYLY1\nUtb6g/+DgN8V/AHDTS+yt+IhCpuX0j/6cm7fIEHpblQ2nO6s8S0wZ6eny2QgtCa4b6nsGtyRFRsC\nfyNm/zGPPkN93YN2fDqC6tzg43Tdn3LZ/K7nDbn0F8UUHkxmyPlN1BdHU3gwmSlzKzG2aJwa/uSh\nehpKo/01iVJt586Xul5U1v36xlxaz7Tbg2uhtj47njp/lZeDcP5NlWh2x3JXfD2XxrXw2jwNubv7\nBP0+XHVfARVZ8Uy5ocpHaXZk9UByd8v3JCbJTPIwPaXHEv01A8Dsh/KcghfIWVb7JRspyvPvDeBg\n6Pk6IqJt9BvZRsrYVrQxsjBdVxxN+oYUpt1eQUKKiYu+icRQE8HzZcNRY+fOPvUsre/Hb1KqUNoV\nlAy8nM3H5eyE50e3Mer6e7l3Rn8WqV3JL9JWDSJvr69pKHmInoZ2heTQC3Qe1+lPgdYZmqu1bHjL\ntwhWXD8jV91fSHSCp5ureWkfth7vT7PNvxb3pn9k+8QTjrq4nul3VJCxqT8ZmztXfBrgmgfz6TdS\n73fbGP0iihTPY43yzfTozYyj+NQv01VqsVuVJLc/t3O3woqpGhrLZeF+yMQm4gcZqcyKp5/RRk69\nLNVNvLaG5CEGLk98lfjMRVSNsXPViT3EtkFhSySme96k0r6C1PJDDBzfglIF8yc0eHdJ0MtJS0tj\n9uwANY66SFgKVnv37uWFF15gw4YNACxYsACAxx93BUB7C1aOVNSSXYFCJYFEp1z7vEkcaODah/J9\nXvYODSSASmPnpy9mnPLktrP84YsOBCvzaxyo/UfgWKQucioC6ZnklidOEp3Y+QKPU9NhVhqcGA87\n3AQxx/3tzHVPvLaG0TMbaKyIZPcXI7rc50DM+XOuR/yDN+59m/dMJpGxndeo222Qvz+ZgRNaiE22\nYDEpKTqcxJApTUTFWbHbPEpyIdlp1+C1Wy8VoFR6thXXx0xLnZahF+hQqSW+e86V4eSCmysZPlVH\nY3kUuxaOYPKcasZdUUfR4UTsViWDJzcTnWhGkhQUHkoiMtaKSmNn4HADRNqoLYxm/5KhxPUzoVRL\nVGbJE6Rrf59P4iADOal9ac6MZfCV9Qw9v5mDywdTeEgWMmbeU8rQ83Ue1+OP/nX+Xd0mZbuC6QEa\nyiLZ89Vwps6rJCrewub3PBUO3RFy8/Ymk7YqRA9rCAk2kbtvMXw63/+2MYXBU1oH4o51oP1bA8tz\nRjjdeH6yHr6bC/3qodZtHvrTHwhaIsGB2gIPLD51wequV9L9Jg+127r3XQkVM+8pZfjU4DWQ3HG/\nvkmzqznv+sAJWwBWPTcJs9Hz4bnpsSxiky2c2NSfzA4m0RsnnOD6rPM63T+AGXeWMXxaIw2l0exb\nOhSLQYXFeBrdQPygjbUQnWBl4rU17F00DMmuIGGAgWseKGDVC5M7bsALlbp9jqAEXUUkG//TyUAl\nP8x9NJuYPmZaarXUFsYw+uKGgIltiw4ncmBZgFSR7dz9ajqSBDm7+nJsXQdpNE8DM+4qZdiFTZgN\nKtb8ayIDxrUw8Zoatn00mpgkM3P/nk1DWTQWg4qBE/wnnpAk2Rqbs6svdquCSdfVsOIJ+bd++/MZ\nqCPsoMC5LtR88cnXJPQPfp8FvYtzXrBasWIFP/74I5988gkAX3/9Nfv37+fdd9917rNlyxb++cJf\n6D+6lagEC8VpQXK8doFAk4ua/Bi2f+zK0DD9jjIGTWxBG2PFbFSh7aLrSFf4/Zfw4S8DBwj/YkMf\ndp1X75FdsKvodRp2LRyOJspOXXta74t/VsqBb07Py0OnayUxsQuVIv1w9f8V0H+07C4hSWBsVRMV\nZ8VmUZC9sy/aWCujZzZSlR1LY0UU85NrmXUUjk+Qg38d/OELeOsuFd+/4DkTi+1jYvhUHQMntDgn\n1O7nLDgoCwV9humpK44+JUHrJy9koIkMbP2oOBlH6ueu9m996qRPbR2A+tIocnb1ZdptFVRmx3Hg\nm6GMnN5A4aFktDFWbvhrDnsXDaO2QL73N/41hw1vjUOltnP5vUXsWzIUU2vwekahGLvTzU/+mYGm\nA9cnb6wWBXaLgoho+biWugjWv945N2FtjJWbH89CHSHJ7VgVRETZsVrk6qnqCKnHJ+UOAo3f9Y/k\nkjjQv3D/26Uui7Y3A6vxcCXtLBdkwIVjP2NZ9NPONMlJOjwC3R101iqttMMDX8M3t/pPROBNIMEq\nmJBpaFb7JLI5kzS3tvCbf/t3j/bGXSE4d1QNcQ8Er+9TnRfDjk9c37kbH80mvj22zNiiZvW/eu66\nzwZC8e487/oqBk9uJj7F5FTqFKclUpSW2KE11cHoS+rJ3xckuKqX4G3hamvQcGTNII9Ml2cSx/j9\n5v9dy+13PNcjfRB0j1AKVmEZY6XopAo4K7uUomLZbUGtqiU2Nsr50tLp5FiJri47cASZOtKjNja2\nebwUN3+WCCS6XpJRtVw4r8q5v/fxp7KcPh7K9sgxNP62S4Z60jOgusa1PWEhHLwgcPsn98vC1Lhp\nCta/Mb79+m0e98Ms6bjpH2388NqEbt/PQMutrYZTbm/713Fc9zsb8f1NbP86joL9fXz210Ta2bd4\nGDpdK4bRFmal6JC87sdJQxRf/GUA0Opx/MSbi5l8pTzJjh9RRnONlr4j2lz3U9XIoPZ5RpuxhQt/\nlk5lmuwq1NXrKThhR6EMPF6thhYUMTVIbXKE8qZPEhl/VR0J8bEUpSXS0tpCa70WS4M8w03foW5v\nHwoPJcvn08HqFyd5nN/hMlJfp+f71/uTmKgJyfj29PKmjxMZfpGOybPsHvdzzIWgq4iitsrgcb+3\nfRlP7m7f309i+yS/o/NVlxv5359GMOvONjI3p6DTtTJoUjP6CjmxSUSfKmryYzvdXk8sf/96P379\nVqnH/XLcn+0V8jp/v8/KlO6933KAiet/h/rO0c7tlw/zv/+nEUCA83svf3Mr7CsECjve34H7/eg3\nqjVo+1HxVoiqRVd56t+b7izbrQr+96cRXP1/hYy7KPj1OYQqna6VkiIzDttL4Otr47ZnM/n25RQG\nTmhxClXyditT51VwZPWgXvF7DcdlB6fS3omNA0hdJq/vNzAKi0HV5ffV4Q1avL937tsTx5RSdCip\nx+/X4e8GM3J6I9VlRnSVkRhrBvZofxxIkoHU1FRn+nVH4WCx3HuW09PTaWpqr6dYUsJ9991HqAhL\ni9W+fft4/vnnna6Ar7zyCkql0iOBhcNi1R1GXNRIQ2kUaq3dw6f9vOurmDS7NuBxW94f7ZFlyZsr\n7i2ktjAGY4uaGXeVe7gINVVpMTRpGDC+lcqsOBIGGLrkxhZr0NAa5T8G4rKDctpmd/y5D0p2yNnd\nh7i+Zg/rRyAcWtuWugiq82JJXz/Ar4vGgHEtXPyzUh/3tDUvj8fQFEFcXxN/+UkOxwaqKDmWSFl6\nPNoYG0PP17F30XCf9hIGGGmqCl2Mkzuv/ywdrdUzmUNX3YGCYTEpkY5Hob6oDaVSDsQ+ubVfh/Fo\nnfGn3/nZCKpyXBrJAeNaPJYF/rnyt4XUl0RjtSixmZXk7e3D+CtrGXtZHfuXDmX8lXWkfjGip7tJ\nXF8TIy9uoCYvlpHTG1FH2mQrpiTHdA2d0oS+ScPx9QNoro5k1MUNTL+jnP3fDHFa7GOSzVx4awXF\nh9UeMPMAACAASURBVJPoP6aVzC0pzLynxBkz2n9UG/n7ZVfEC2+pQK21c+hbl6n75seziEnyfc/4\ni2noLKOLIH+E/21X75EztznojPUr0iinjD9VAlkQ5z19ksi44O9mm1XBt091zeUt1Fx8dykjLgru\nFuj+bnt5fAFHf9v1hAjuWC0K9nw5vFPvnSt/V8j+pUMxtYWlfrdTjLuilj7D9JQcTaQ8w0/BPDe8\nY6jOBBfeUsHwi3Q+3hjBGHqBjkvnl1KeEcfuL0d067yDz2ti4tW1bPtwFDZr701OrY2xMmB8CzPu\nLMPQrGHrB6NRKCWi4i30HamnKieWpkrP4qN3vHSCebEfkjCikxWrBb2Cc94V0Gq1Mn78eLZs2cKg\nQYO4+OKL/Sav6KpgNWhiM/OtOsp+24RdKX8cj60dyKBJzUQnWIjrZ0KhhJlH5BoR3tjt0NbQOfcg\nh6uWvklN4YFkZ4Cn+2R41q+KMbaqGT1TDoQMZqiLVvRDLwUW+rzxFqwaSqN84kOCMXJ6AzPuKvdZ\nL0lwdM1AohIsTLgqcPFSgJbaCLJ39mXS7BrG661+U9K31muo3DmTq4fsJ2+ChFpjRxNpx2ZVsPHt\nMbTUumZQ2lgLtz6VRe77YzhW5qfScieY9atihpwnx3M010YEzAiZMqaFq+4v6nL7UQa4ZzUs9FM3\nDGQroVpro6VWy5b3xzBwQjOzflXikSErEN7uqL2Bu+cVsmy1HGAz7fZytDFWclL7ctPAeqouNpEw\nwMjO58dTY47g/v5VDJzczIFpMM5u4tJtKjZcqmBYjiyst00yccsWONEWTXOEkr3qaPqYbejm67Ca\nlVxWYWHj6qFMHNCCap6OlDQNeruKoitMVJTHkPr5cGcykFDSd0Qbl/y8lP6LEhhqs7BrtJqtO0NT\nXyE5wkKDWcOEq2s4f25wN61g2KwK9DoNcX09U4JHKBMx2z0n33Y76BsjiG0vuuo++Y6IsnL7874p\nDQdX+qbn7iz3fhP4eZh1EPa4KYUizPhkJ9QaweQmSKktYA3urdopGsqi2PzuGBQKiWseLGDrf0cz\ndV4FYy+r7/hgekcsakcxfu59XD41g+X3dC/ZSrB2/eFIhmIxKjEbVKg0dqe1vKv0HdHG2Fn17F0c\npCJyAFLGttBnmJ7MLZ7Selw/I2v75dJoVfGKcQD7S4Inghk5o4Gpt1Vg0GnI359M0iAj/ce0erhj\nS5KcOEKhhOydcgBn4UFXu3e/mo7FqKRkyQBiLmvm+PoBjJzRSOJAA9s+9K2bOf2OMg+lR1cYPq2R\nabdXON2hc/f0waxXkbHJV2tx96vpzvG89vf5zqRQDmxWBa31EeTv7UPfEW2c2JSCzazE0Bz4Ifzz\nyDLGTG0k1c3l/rvnJgWNnZv5s1LqiqOJiLYR19fUYaxYZ7n2oXzi+pmwmpTcs91GaUwch69tdn5z\nZx2CPdODt9FSG0F0kgWVWmLuVug3dx3WkZcGP0jQqzjnXQHVajXvvfceN9xwAzabjd/97nceQlUw\nklUWGmyeD7w6wsabF+QxTG0muQnyd8CGa0CllvxmSZp+3L9gpVRCXF8zv7i0hEV7g7/k9ToNep3G\nJ7ueu6bPkYY27TtXIPvwqY3MvKfMt70uCFXXtmcYnbsN1rfXbtn+ceejy2fcWcblQxrxFatk4W/q\nPP8Fdr2zg8X1MzP9Dvn+Gr0UwA63otg+Fv72t3cpXjuVcjclqEotcf3DeWx8eyx9R7YxdV4FSrWE\nUgnP/f4FfvrUgk5fjztZ2/s5BaujqwNPjqf9pJM53L2IsECUEYaW4zdLoyPz2lSVgQt+l4E91k5F\nJ5/S/qPbnDFRoeC866uc6aVnXjoM07FMnhpciloBd+ZMwIaCmx/PwpB+D6OuKOLqEZ+wasu/WLci\nDUOjiocffoJrrprN5Jv+Q3PuZ8zd2MDi2+FmdTNXHATkmo78aYwri6ZUDaOPw+AqsF/0S35y/Rtw\nvYKkp/pCJTT/cRvDBl9A7Gc/5Yq87aAFvgWwob/xOSZ//kc5s4ZFT9K6oYAFVoBN2coHL2aEPIZp\nytxKJl4tKxB+HSv/P+VPVQwomcKBQWry9nSy2JMbVz9QQNIgA39abkdlhw9+pUBSdixY/+YbOaFD\n/3pfQUWllnyEKoDxyQ/KNVzcyDsK46a59p08p9o54TIb1NjtrmQlDrorVCnswUsc7PGytPtL+W7y\nsk51pgRFZ9i/VJ60SpKCviP0vPmzdPZ3o0BtVLwl6CQzlChVdhrq9U4XJUdcqT+q81zp7uc9k0nM\nutAIVQBDxrRQluffajX379lEJ1qYnQpbLrcHjR3tCPdMhhExBez5cjjjrqhzKipv+kcWzdWRHFg2\nhEt/WUJTdSQZG1OITrQw5+Fc5+9YG2sjIcWIqVXNsfUDmP2HfFgGSWobLyeUs/5P5USYwdasYmVp\nf+L6mZzf5T7D9Ey/Q/ZAietn5sJbqvz2VaGAhAHyj33GnfLX8/djyzFf+H8cscjx4oWZdl6JrqC8\nEjY+7Cq2PvNnpbQ2RDifQ0fMbdJgA5ve6Vrii9uey/SJ+R47S1YWZG7pj+RWdOyCW+R7e80D+egq\no3yEKpDfLQkpJuc4DJ7cDApQKCW/ySEeGVDO7ZGNKLLwEKwuuLmSo2sGcsn8UvqPbkWplrCZlTy0\n0s4n7Ylxhk+TlUB2O0EFq+HTGqk4Gc+AsS1c+otS1r4yHr0ugv6jW/k35SSorfzzwng0kTbOS0lm\n8uj/kLLwIRIkiHvwEEcLXG0P+VkRM9u+p6R5NZem/IfCk48yausGVl8Hlgg5ZlNtM9MWBWuaYGQE\ntHZQO1RwdhOWghXA3LlzmTt3btB9bnw0G11FFIMnN2PeksAvdc0MMNr5cD6kLh9K6bFEZ0ajC79w\nHTeqxPX32AK5tkwg4vURnJdp9tBoTB/ShHmBrH0qz4in4mQ85Sc83QCCpSsPRvGRJGbcXUac0VGX\nqOsktSuoR5XIqboPWmKwmgNrikZO0jFwWhNmo4rEAUaShxqYsww+v9u1z/g8yA5ySWqLnLp9ZAn8\n4Ecp4F7nZEwh9DsI0f3gvDw1sROGk+inXqhKI3HjozkeGtlL+r6J2j6aK86r5f+zd95hUpXXH//c\n6bO9wy7b2AJLWZbee0e6AjbEAmosGDXGrgE1aowlCfkZExNrsBEjJsYgAhZQFARUiIC0BaSX7bvT\n7++Pu9N2ZnZndmfZHXg/z8PD3P7uvHPvfc97zvme9TsCh9ctSDnJGZuG/9VFkZJVyzd7lZlDm0dx\nSlO19+1xw+BSjowyEZVo9brmjNWKBPepIHJ9tTYJCZkZASTy80th+GaIqQVwYFPBnxvIWMdVQaWf\nMUvqGZDTGhmlSjLJ2bWuei0Aydk1pObVkNuvnK/ezKLryFPs+SKFgiFnyO1Xzh8PKwZ7+S/XkPig\nezZzXfcd1BjAvhbsD/7etX7+tD+Qm7CBYcOGuXIhS9LvgvS7qMvZxNUvTHbtK2v0lD96DPXhrRhX\nLUFT+hWSw0bqoN9hik3Hlj/CJUdYfs/3qMsOYe9UAkD1QncxzsT7lL6zDLzaLV+oi6bsibPov/wL\nUf++F5VD2ZTdu5xD3zY/3Gbmwz9wbFcsuig7UQlWBtaa6P1vSKov02IeeDUanY4bo05xYznsHpHN\n/kF3MmrdpUzZ6p71rT6rY9PbWWQWl/PTdqU9Gd0rmDXqJ8Z97yDhS1DXjzenHZnFv7OU4s0XrYMP\nx/q26+IPIdoEuqgxaI980uTfMeZL6Djra6zxHagy7yVxzw9s6+i/8FHRqFNeM9nWOrVLero5eIbq\naW1QfdMaqFEUXBPt6XROv5WtJx9o9vmbXbTPg0v/Be+c8rbYco6AWa9I7gfDRffs4szBKLJ7V3Bs\nZ2zYw0kHzjtMVkkFKrXMiT0xaPV24jqa+eS1OMr31ud+HDFiDKCc5ilCoTPaCcJ2D5qZQ35C6v8Q\n73z6GiePKy+qPmkG5EH7XQZ+0T74ujdUh6jVMPSqg65JR7XObZR1KKhh1tIfkCSl1qDdqiI6yUpM\nspWZv9qJJCn7OI0Iz2e4cx1AVkmF1/U0dpi+Fsy95/G14R36TFcmDhdXn+XDcY1HkjRFt56vsrvD\nWdTH3V++ff77FP51JqtHuffL6VuOucbtUZr2lYOPRkNiJxOzH/kfHzxRhLXO/Q4ffk2pTzi/1mBn\n1pIfGm3v+MV7+eYfnSiefIKOXdx5Q6l5taTm+ZdBb4hnSYu+s47w0/Z4asq01JxVKp7PTvIvRd6r\nexmd+5d5hderDA7MV70L9ksAJeJj4A49nw0wM+iyw3z9VhbzO5SRMOVO/viKUlzdU0DKybT73JN3\nmfVjvZ9p09nSL4EhnV7CqOkAt+3Eu+chO3YmGm0c+QlXkZ+gvIi79X6DhH9mMv+9WmRJ+X0ARNdB\nx9NQe8tz2NPCM7kpiEwi1rAKhrhUC3GpFm5+FSTc4S6yCoZccZghVxx2rbN2GY/2R2UKXQLG/9iL\nioEXM3D9EpIqfD1UqafhVApkHrYgNXghxaeOQ5LWojM66Ny/nNx+5ay4N3wz5cd3xzL3QBXvBiEv\n7A/ngK3aruLHvTF88ZlvOEGsysYzOQfYXhvNKP1Z1naSveoaRdcp+Q+yBD1+VL4zq1YpbuuPEZtA\nLUPnn5TQn7/P1WFVKS/YMV9CQgWsnKJmSM1Miow9MBoehXUgq5We6/6jtwS6E+dLotuPilR63ZJr\n4fgPPOo4zvO/Oc6h7+I5/mMMuX3LuexrK7VlWrpH1WL0GEVs6A+n4iQObk3EVOW+JWKsMp5BUldW\nVvF/fiJC1MYOSKpywNeoST6rKJGdqndcDDvcG9imnL/ad1Ax+TPvZVVMOuDtAZzwOZRmuYt8Zh+B\nEV8r9aBOJSuD/yP/nMeR3Vu5scMx/nKmA0frDIy+/gBxHUz869HuREdHc++9ceRu3sq/hymelptn\n7KXWCDm3ul8vkgQVd20BtZbKm9cQ9/x4zCVzMI25k/jfDUWWVDTM4nAmiDbEnuNOXKsbdw+mUT9X\n1mf1pfr6f4HNgur0XhwduvmMVuSETGwJ/sNeyh/ah2SuRjb6GkzmIdcT9e97XWPtuLSWzST2Kovh\n+oIH2Zizi/0Vy+l78pckn/0tAJU3f4w9S1ELqL7sRTQ/bSPtokdJkySiPoTHJu/k085aemvrONS3\nltz62deK4ydRqWViUy3MfQ2fAW7siOcY+vke4vbtoPNhuORDvO79W16Fijs3URabhmH9H9Hu+YSp\na+A/433l4Z2kngGVNh6dOo6hnf7C2eTvoFRxXy8theUenplBP8iKU7Ce1b8vYPr9za/V55n/pLWB\nPa0QDijLaSmzyI+/smWGVRhIKfNdF1sNmuDTXolJshKTpNxLCZ0UMR59tI0uI06zfVVHCoaepmjU\nKVRqOPhtPBqdgy3/VH7jRaNPsuvTNNe5OnatIrdfGYe2JYAEnbpXeuVPOQfBOT+B9vpyPniyA7Vl\nOta/nBtUfqZKjdd7LNDkTbDM2G7DcsNIXv3PG651T43N4sU+m732k3VGQPluFuTYeO2ghlidlZzR\nZ+jQpRpjnJXju2M5sTeGPjOOUnnSQGrnGkZcW8q+r5MoGu0dqeF8bAycd8Tv+oafA5FfCua+l6Pf\n+qZ7pT6anrtgVz70+x46ngnNqOrf4bd8c+KXACQZ+jIh+z/YVXrUFStc+3TpC7b8EdROfQx40LV+\n6hooj7dT9/M9aPR2Ejcoz/z1g0CrdzB7yQ8UvG/kswItKZ1r0EfZufjRHZw5FEVq5xrOHIpSUhma\naG9ihokJt+0L/o9qgoIhZykYcpayIwY+/kMhmT0rIICDcvRG+KC+sHfXxJ+xu+wFhme8hC1uDCO/\nuYyv9O8wIv89knoNpu/6sYztXMx97z/vOn7AgKEcPXaUbbEXu9aN+BrK+01hu+a/AHRWj8WWXYXm\n0GaSpv+XCQb/6oG9U3/FjjPP0Cvlfr/bK+7bgeHjJzFs/AuO6BSsPaYpx429C0t8eMLABZHLeW1Y\ngeIhafgskf08XGwZvai57EWkmtPotr1D2ohbSDPEAUso87j30urThqatVYyILvvhjMd4rlPMZJL7\nPcbYD4YTl7+Ab/PLKa18h4m3/8jq3zU9i6FSK+pvdmvgXJANr+Ryd9/mFQcEZaAPSjhX3W5fT9X4\nxXu4b40JjQRdjSYww2X/hs9/cS/bTz9JWtRwYAM9POr0mftcSqL8JeA2Vi/9F7w9Q/ns/M5Ngxch\nRSdxUe4cjlk20OfpO10zPpd2PY5KUmMCDB8/juSwg0aZ5VLJSjHcVWP8/03DvgG9VXlFS3YrEkqY\nUXZJBdn1M5DdNgAxvuFQSNB72jEObk3EUqfBalah1TvoEGvip1PKbOsd/VOhFjqchBNp3odb5r5M\nX0MUn/10OcnVRn4yuMu+T18DUXWK0ZNxAqRblsO3Si7B7I/gqz6QfxA29YZue/GhZt4LYJ3ptS6m\nVvndOQ2r6fUhdU65fX20nYdvv534Z5U4i+GxVfxUMIMP85XfzLT7d3JlcSnGqCjoBSNOv4ExupB0\nxyliXp/P8llQXu9grZ3xFI5kJUzUntWXsifcs41lvyoFndv7FQyVP1uFdv8GTKNu940n0+hwdAw9\nz0KOSkSOCqCd7TGS6LIPoktOu8IbPZl4+4+c/SkK40exrK/y9i4PHzWEDZ9tZOzUYvqMW4tN0jAA\n6NfhCVRdVNSqErF3KHIZVQDWkkuwllziWq64+ztGPFXCsMM2JBk+GIer/EFCmpn4Kpi5wteoAsAQ\nR4+zXdEd2gFAx1PuOluzFP0eHKmKu9g86FqM654m94hShsHWYwYnz/yL08lQeAD21Ef8RteCWefO\nQ1ThDlWLyp4GfOBaLtmpJGQ7xRjqKkIrENsQzzwpjRQNevcIPl7fBa06jozoiRytWd2i64TKoK2w\na3BXijd4G43p3RR3uSQrRaID0ZgIR1S8jWn37UQXZUellskuKSc6yS0C0nWE4jFxGlbRSe7nVP85\nP5Hbt0zxuJY0nFP3pute5d20NtbqKjoeLCoZuibeRPnuP9Ftr1s0ZNKn8NHokE6FwQJmtZaqKncb\nZJXvcEOOSgSbYlhdfMsjTP3LFVQVWlntcb28gWXkDVQsXUOM4olIL6oKWMPIHwkVUBkDjiDKX131\nrmJEl/96GY6UPIyrf40tqz+WXrNJ+vplFr0Z4D5twJz12XxccoiKOBiW8Vdy4i6mIOEaAFSSuyEy\nvj8q8/CbYZdiWBUeiSUjfiS5P/yHjBMmKmIhuVz5l9f5YV5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NMfRMuYu5hQeZtH8ETl2K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\nrH0+QwAAAABJRU5ErkJggg==\n", "text": [ "" ] } ], "prompt_number": 407 }, { "cell_type": "heading", "level": 3, "metadata": {}, "source": [ "Amplitude Spectrum of Turnrates" ] }, { "cell_type": "code", "collapsed": false, "input": [ "hann = np.hanning(len(pitchrate))\n", "Yax = np.fft.fft(ax*hann)\n", "Ypitchrate = np.fft.fft(pitchrate*hann)\n", "Yrollrate = np.fft.fft(rollrate*hann)\n", "Yyawrate = np.fft.fft(yawrate*hann)\n", "\n", "N = len(Ypitchrate)/2+1\n", "Xfft = np.linspace(0, 1.0/dt/2, N)" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 408 }, { "cell_type": "code", "collapsed": false, "input": [ "plt.figure(figsize=(8,3))\n", "plt.plot(Xfft, 2.0*np.abs(Yax[:N])/N, label='Acceleration', alpha=0.9)\n", "plt.plot(Xfft, 2.0*np.abs(Ypitchrate[:N])/N, label='Pitchrate', alpha=0.9)\n", "plt.plot(Xfft, 2.0*np.abs(Yrollrate[:N])/N, label='Rollrate', alpha=0.9)\n", "plt.plot(Xfft, 2.0*np.abs(Yyawrate[:N])/N, label='Yawrate', alpha=0.9)\n", "#plt.xlim(0, 1)\n", "plt.axvline(5, color='grey', label='Cutoff Frequency', alpha=0.4)\n", "plt.legend()\n", "plt.ylabel('Amplitude $^\\circ/s /Hz$')\n", "plt.xlabel('Frequency $Hz$')" ], "language": "python", "metadata": {}, "outputs": [ { "metadata": {}, "output_type": "pyout", "prompt_number": 409, "text": [ "" ] }, { "metadata": {}, "output_type": "display_data", "png": 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sbIiMjDRe99pjK/n5+bFo0aJ6sTpqQyBd9+K2JEdvefWlldnQST1XTVVVCgsL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\nM20ACigK27+8+mFM3Oxk/Dn5sB02Ns6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3UXvRjN3uQK1W4WfwRuulxtaq0PfuMCyNrcTf\nGUpFcT1VZSb0QT7ofDRYWxSazVb6RPijD/TB3NBCrCa95xf6zz//nP379/OvfzmHcLZs2cLRo0dZ\nt26dq01KSgqLFy9m9OjRAEyaNIlly5YxfPjwdsc6ePAgRQGPA+Bt688P2wcw7m/3MWHkONSfpVJg\n/DfW3/0JNN/BdpOC2qLhH2NG4Eh6jIp/PkHVwtn4aBzYVRpUKjVWh4LKYceqqGixO38Z+XorOOwq\nbIoGh8OO4lDh42dDA1jtKue1nsqBWg1NZudQkebSlZFiU106gQAunUw4v/pP2i9vu+yqq8wrtD0h\nufxZiu3699XaXWyqwFvtQNFwzZGN8t90/PN/vuTdjyfS2qxBrXG0+Z563llNz4zr+meAy145wN9X\nTb414bSh1jiwK1f///fMPP55tzrP18ujWo1rBs+OfjfcateOt2tXMu7qy7eV0yk3VOjdco++qw97\nXHkO0tH7TCYTcWxxvX4oxfnvT/8+DUOXAaCOgEZg6qU2+QAXHTBjM5ykzVI3Hetof1MH29pqM/ne\nFU8FXO1Gf6yvbK902Or672vpsFV7ERr4x39PoeV4+8/qqSWgp8Z1PX9/LgU6f5b0pun4JkPvzeP1\n3Oo8Xy+PbfPfE3LeHTG4qy/fTkwm0w21d0uhj4qKoqTkPw8UlJSUEB0dfc0258+fJyoq6qpjTZ8+\n/eYFKoQQQvRybpmabcSIEZw6dYpz587R2trK9u3bmTZtWrs206ZN4+OPPwbgyJEjBAUFXXV/Xggh\nhBDX5pYreq1Wy/vvv8+UKVNQFIWMjAwGDRrEhg0bAHj22WeZOnUqX331Ff369cPf35+NGze6I1Qh\nhBCiV3PLw3hCCCGEuDV67aoqOTk5DBw4kP79+7Ns2TJ3h+Ox4uPjGTJkCImJiSQlJbk7HI/w9NNP\nYzQaGTx4sGtbTU0NDzzwAAMGDGDy5MnU1dW5McLer6Mcv/nmm0RHR5OYmEhiYqLrz3vFH1NSUsKE\nCRO46667uPvuu1m7di0gfbm7dZbnG+nPvfKKvisT7ojukZCQwI8//kifPlfP0CT+mNzcXPR6PU88\n8QTHjzv/nGHhwoWEhoaycOFCli1bRm1trWt+CXHjOsrxkiVLMBgMvPzyy26OzjOUl5dTXl7OsGHD\nMJlMDB8+nF27drFx40bpy92oszxnZWV1uT/3yiv6/Px8+vXrR3x8PF5eXqSlpbF79253h+WxeuG5\nYI82btw4goOD22374osvSE9PByA9PZ1du3a5IzSP0VGOQfpyd4qIiGDYsGEA6PV6Bg0aRGlpqfTl\nbtZZnqHr/blXFvrS0lJiYmJcr6Ojo13fuOheKpWKSZMmMWLECNcER6L7VVRUuP6qxGg0UlFR4eaI\nPNO6desYOnQoGRkZMqTcjc6dO0dBQQHJycnSl2+iy3keOXIk0PX+3CsLvazedet89913FBQUsG/f\nPtavX09ubq67Q/J4KpVK+vhN8Nxzz3H27FkKCwuJjIzklVdecXdIHsFkMpGamsqaNWswGNqvzCZ9\nufuYTCZmz57NmjVr0Ov1N9Sfe2Wh78qEO6J7REY658MOCwtj5syZ5Ofnuzkiz2Q0GikvLwecS1CG\nh3e8FK/448LDw12FJzMzU/pyN7BaraSmpjJv3jxmzJgBSF++GS7n+fHHH3fl+Ub6c68s9F2ZcEf8\neRaLhcbGRgDMZjMHDhxo9xSz6D7Tpk1j8+bNAGzevNn1wyy6z4ULF1xf79y5U/ryn+RwOMjIyODO\nO+/kxRdfdG2Xvty9OsvzjfTnXvnUPcC+fftc69lnZGSwePFid4fkcc6ePcvMmTMBsNlsPPbYY5Ln\nbjBnzhy++eYbqqqqMBqNvPXWW0yfPp1HHnmE4uJi4uPjycrKIigoyN2h9lpX5njJkiUcOnSIwsJC\nVCoVCQkJbNiwQWbb/BMOHz7M+PHjGTJkiGt4funSpSQlJUlf7kYd5fm9997js88+63J/7rWFXggh\nhBDX1yuH7oUQQgjRNVLohRBCCA8mhV4IIYTwYFLohRBCCA8mhV4IIYTwYFLohRBCCA8mhV4IIYTw\nYFLohRBCCA8mhV6IHio+Ph4/Pz8MBgMGg4GAgADXHOJCCNFVUuiF6KFUKhV79+6lsbGRxsZGGhoa\niIiIaNfGZrO5Kbpb6+jRo0yZMoWxY8eydetWAD755BNCQkKYP3++LFAjxDVIoReil4mPj2f58uUM\nGTIEg8GA3W6nrKyM1NRUwsPD6du3L+vWrWv3noKCAu655x4CAgJIS0sjLS2N119/HQC1Ws3vv//u\navvkk0+69gHXPHZ8fDyrVq1i6NChBAUFkZaWRktLi2t/SUkJs2bNIjw8nNDQUObPnw/AihUrmD17\ndrsYFyxY0G7RjraSk5Px8fHh1VdfZe7cuQBMnTqV5uZmVq1aRVJS0h9JpRC3BSn0QvRgnS1FsW3b\nNvbt20ddXR0AKSkpJCYmUlZWxsGDB1m9ejUHDhwAoLW1lRkzZpCenk5tbS0PP/ww2dnZna4T3nYN\ncbvdfs1jA+zYsYP9+/dz9uxZfvnlFzZt2gSAoig89NBDJCQkUFRURGlpKWlpaQDMmzePnJwc6uvr\nAefIxPbt20lPT+8wJkVR+P7777n//vtd2w4cOEBycjI6na6r6RTitqR1dwBCiI45HA5mzJiBVuv8\nMZ0wYYKrQC9YsICoqCjAOaxdVVXFa6+9BkBCQgKZmZls27aNyZMnc+TIEWw2Gy+88AIAqamp3Hvv\nvdf9bIBjx45d89iXY7l8SyElJYXCwkIA8vPzuXDhAitWrECtdl5TjBkzBoCIiAjGjRvHjh07yMzM\nJCcnh7CwMBITEzuM56effqJPnz5kZ2e7tn300UdMnjzZ9frw4cO88847xMbGolarefDBB2WJVCGQ\nQi9Ej6VSqdi9ezcTJ068al9MTIzr66KiIsrKyggODnZtUxSF8ePHA86h98snBZfFxcVd97O7cmyg\n3XMDvr6+lJWVAc5h+7i4OFeRv1J6ejoffvghmZmZbNmyhXnz5nUaz9dff82jjz7a7or/jTfeYMKE\nCa7XY8eOJScnhw8++ICTJ09KkRfiEin0QvRCbYfdY2NjSUhI4OTJkx22jYyMpLS0tN22oqIi+vXr\nB4Cfnx8Wi8W178KFC64TiZiYmGse+1piYmIoLi5GURQ0Gs1V+6dPn87zzz/PiRMn+PLLL1m5cmWn\nxzp06BAvvfSS6/X58+eprKxk5MiR7dq9++671NbWsnr16huOVwhPJffohejlkpKSMBgMLF++nKam\nJhRF4cSJE/zwww8AjBo1Cq1Wy9q1a7FarWRnZ3Ps2DHX+4cNG8ann36Koijk5OTw7bffdvnY14sr\nMjKSRYsWYbFYaG5uJi8vz7Xf19eX1NRU5s6dS3JyMtHR0R0ex2q1kpeXx6hRo1zbcnNzGT16tOu2\nBsDSpUtRq9WsXLmSX3/9laqqqq4nUQgPJoVeiF5OrVazd+9eCgsL6du3L2FhYTzzzDM0NDQAoNPp\nyM7OZtOmTYSEhJCVlcWsWbNc9+HXrFnDnj17CA4OZuvWrcycOdN1bI1Gc81jX6ntg3wajYY9e/Zw\n+vRpYmNjiYmJISsrq1379PR0Tpw40emwfUFBAYsWLUKlUrnuz2/bto3169ejKIrrxCEvL4+hQ4cy\nZswYJk6cyM6dOwkNDf0TWRXCc6gcnT3WK4TwWE899RTR0dG8/fbbbo2jpKSEgQMHUlFRgV6vd2ss\nQngquaIX4jbUE87v7XY7q1atYs6cOVLkhbiJ5GE8IW5DbYfY3cFsNmM0GklISCAnJ8dtcQhxO5Ch\neyGEEMKDydC9EEII4cGk0AshhBAeTAq9EEII4cGk0AshhBAeTAq9EEII4cGk0AshhBAeTAq9EEII\n4cH+HwQA243kLE1qAAAAAElFTkSuQmCC\n", "text": [ "" ] } ], "prompt_number": 409 }, { "cell_type": "heading", "level": 3, "metadata": {}, "source": [ "5th Order Butterworth LowPass" ] }, { "cell_type": "code", "collapsed": false, "input": [ "cutoff = 5. # Hz\n", "fs = 1/dt\n", "nyq = fs/2.\n", "filterorder = 5\n", "\n", "from scipy import signal\n", "b,a = signal.filter_design.butter(filterorder,cutoff/nyq) \n", "\n", "axLowpass = signal.lfilter(b,a, ax)\n", "pitchrateLowpass = signal.lfilter(b,a, pitchrate)\n", "rollrateLowpass = signal.lfilter(b,a, rollrate)\n", "yawrateLowpass = signal.lfilter(b,a, yawrate)" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 410 }, { "cell_type": "code", "collapsed": false, "input": [ "plt.figure(figsize=(14,8))\n", "plt.subplot(411)\n", "plt.plot(ax, label='Acceleration')\n", "plt.plot(axLowpass, label='Acceleration %iHz Lowpass-filtered' % cutoff)\n", "plt.ylabel('Acceleration $(m/s^2)$')\n", "plt.legend(loc='best')\n", "\n", "plt.subplot(412)\n", "plt.plot(pitchrate, label='Pitchrate')\n", "plt.plot(pitchrateLowpass, label='Pitchrate %iHz Lowpass-filtered' % cutoff)\n", "plt.ylabel('Pitchrate $(^\\circ/s)$')\n", "plt.legend(loc='best')\n", "\n", "plt.subplot(413)\n", "plt.plot(rollrate, label='Rollrate')\n", "plt.plot(rollrateLowpass, label='Rollrate %iHz Lowpass-filtered' % cutoff)\n", "plt.ylabel('Rollrate $(^\\circ/s)$')\n", "plt.legend(loc='best')\n", "\n", "plt.subplot(414)\n", "plt.plot(yawrate, label='Yawrate')\n", "plt.plot(yawrateLowpass, label='Yawrate %iHz Lowpass-filtered' % cutoff)\n", "plt.ylabel('Yawrate $(^\\circ/s)$')\n", "plt.legend(loc='best')\n", "\n", "\n", "plt.xlabel('Filterstep')" ], "language": "python", "metadata": {}, "outputs": [ { "metadata": {}, "output_type": "pyout", "prompt_number": 411, "text": [ "" ] }, { "metadata": {}, "output_type": "display_data", "png": 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png1l974CioJh549+92lVuHmJmDN3dhJ9PlUPGp0S5/R2iJ4hMoblx4jjEpNw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\nvNJUd5hIfqPqvd9lTP4JqXaRSVay5O+uKiA+Pp6YmBjc3d3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QKO4qvyG/yHUIf/MYhbr9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CQSiUQikUgkVzke5wookUgkEolEIpFIJM0Nj3MFrA/Lly+nU6dOxMfH8+qrrzZ1cyTAtGnT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\nIiKix/T/rKPlv4SsVcsAAAAASUVORK5CYII=\n", "text": [ "" ] } ], "prompt_number": 411 }, { "cell_type": "heading", "level": 3, "metadata": {}, "source": [ "Determine natural Movement Turnrate-Acceleration" ] }, { "cell_type": "code", "collapsed": false, "input": [ "plt.figure(figsize=(14,4))\n", "plt.plot(np.diff(axLowpass)/dt, label='Jerk $\\ddot v$')\n", "plt.plot(np.diff(pitchrateLowpass)/dt, label='Pitchrate-Acceleration $\\ddot\\phi$')\n", "plt.plot(np.diff(rollrateLowpass)/dt, label='Rollrate-Acceleration $\\ddot \\Theta$')\n", "plt.plot(np.diff(yawrateLowpass)/dt, label='Yawrate-Acceleration $\\ddot \\psi$')\n", "plt.xlabel('Filterstep')\n", "plt.ylabel('Turnrate Accelerations $(^\\circ/s^2)$')\n", "plt.legend()" ], "language": "python", "metadata": {}, "outputs": [ { "metadata": {}, "output_type": "pyout", "prompt_number": 412, "text": [ "" ] }, { "metadata": {}, "output_type": "display_data", "png": 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/gGVZTF0rgsMzDFjIwi148fQ2ElJIIBAI+lJdXaVnScPXuHLHT1OGsKl7e9TH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5Fd3+QQGOpJz8HBfPFKMrc+OZTirCZr/U9lcRORseLo+d4fcsk4bjuHE2f5EGuYDggOl+X6BsWo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\nAAAAwEP+H+JAUh6TisZAAAAAAElFTkSuQmCC\n", "text": [ "" ] } ], "prompt_number": 412 }, { "cell_type": "code", "collapsed": false, "input": [ "print('max Jerk: %.1f m/s3' % np.max(np.abs(np.diff(axLowpass)/dt)))\n", "print('max Pitchrate-Acceleration: %.1f \u00b0/s2' % np.max(np.abs(np.diff(pitchrateLowpass)/dt)))\n", "print('max Rollrate-Acceleration: %.1f \u00b0/s2' % np.max(np.abs(np.diff(rollrateLowpass)/dt)))\n", "print('max Yawrate-Acceleration: %.1f \u00b0/s2' % np.max(np.abs(np.diff(yawrateLowpass)/dt)))" ], "language": "python", "metadata": {}, "outputs": [ { "output_type": "stream", "stream": "stdout", "text": [ "max Jerk: 36.2 m/s3\n", "max Pitchrate-Acceleration: 82.3 \u00b0/s2\n", "max Rollrate-Acceleration: 62.0 \u00b0/s2\n", "max Yawrate-Acceleration: 33.6 \u00b0/s2\n" ] } ], "prompt_number": 413 }, { "cell_type": "heading", "level": 2, "metadata": {}, "source": [ "Control Input" ] }, { "cell_type": "code", "collapsed": false, "input": [ "control = Matrix([axs, dpsis, dphis, dthetas])\n", "control" ], "language": "python", "metadata": {}, "outputs": [ { "latex": [ "$$\\left[\\begin{matrix}a_{x}\\\\\\dot\\psi\\\\\\dot\\phi\\\\\\dot\\Theta\\end{matrix}\\right]$$" ], "metadata": {}, "output_type": "pyout", "prompt_number": 414, "text": [ "\u23a1 a\u2093 \u23a4\n", "\u23a2 \u23a5\n", "\u23a2 \\dot\\psi \u23a5\n", "\u23a2 \u23a5\n", "\u23a2 \\dot\\phi \u23a5\n", "\u23a2 \u23a5\n", "\u23a3\\dot\\Theta\u23a6" ] } ], "prompt_number": 414 }, { "cell_type": "code", "collapsed": false, "input": [ "print latex(control)" ], "language": "python", "metadata": {}, "outputs": [ { "output_type": "stream", "stream": "stdout", "text": [ "\\left[\\begin{matrix}a_{x}\\\\\\dot\\psi\\\\\\dot\\phi\\\\\\dot\\Theta\\end{matrix}\\right]\n" ] } ], "prompt_number": 415 }, { "cell_type": "heading", "level": 3, "metadata": {}, "source": [ "Calculate the Jacobian of the Dynamic Matrix with Respect to the Control Input" ] }, { "cell_type": "code", "collapsed": false, "input": [ "JGs = As.jacobian(control)\n", "JGs" ], "language": "python", "metadata": {}, "outputs": [ { "latex": [ "$$\\left[\\begin{matrix}0 & \\frac{T v}{\\dot\\psi} \\cos{\\left (T \\dot\\psi + \\psi \\right )} - \\frac{v}{\\dot\\psi^{2}} \\left(- \\sin{\\left (\\psi \\right )} + \\sin{\\left (T \\dot\\psi + \\psi \\right )}\\right) & 0 & 0\\\\0 & \\frac{T v}{\\dot\\psi} \\sin{\\left (T \\dot\\psi + \\psi \\right )} - \\frac{v}{\\dot\\psi^{2}} \\left(\\cos{\\left (\\psi \\right )} - \\cos{\\left (T \\dot\\psi + \\psi \\right )}\\right) & 0 & 0\\\\T & 0 & 0 & 0\\\\0 & T & 0 & 0\\\\0 & 0 & T & 0\\\\0 & 0 & 0 & T\\end{matrix}\\right]$$" ], "metadata": {}, "output_type": "pyout", "prompt_number": 416, "text": [ "\u23a1 T\u22c5v\u22c5cos(T\u22c5\\dot\\psi + \\psi) v\u22c5(-sin(\\psi) + sin(T\u22c5\\dot\\psi + \\psi)) \n", "\u23a20 \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500 - \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500 0 0\n", "\u23a2 \\dot\\psi 2 \n", "\u23a2 \\dot\\psi \n", "\u23a2 \n", "\u23a2 T\u22c5v\u22c5sin(T\u22c5\\dot\\psi + \\psi) v\u22c5(cos(\\psi) - cos(T\u22c5\\dot\\psi + \\psi)) \n", "\u23a20 \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500 - \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500 0 0\n", "\u23a2 \\dot\\psi 2 \n", "\u23a2 \\dot\\psi \n", "\u23a2 \n", "\u23a2T 0 0 0\n", "\u23a2 \n", "\u23a20 T 0 0\n", "\u23a2 \n", "\u23a20 0 T 0\n", "\u23a2 \n", "\u23a30 0 0 T\n", "\n", "\u23a4\n", "\u23a5\n", "\u23a5\n", "\u23a5\n", "\u23a5\n", "\u23a5\n", "\u23a5\n", "\u23a5\n", "\u23a5\n", "\u23a5\n", "\u23a5\n", "\u23a5\n", "\u23a5\n", "\u23a5\n", "\u23a5\n", "\u23a5\n", "\u23a6" ] } ], "prompt_number": 416 }, { "cell_type": "code", "collapsed": false, "input": [ "print latex(JGs)" ], "language": "python", "metadata": {}, "outputs": [ { "output_type": "stream", "stream": "stdout", "text": [ "\\left[\\begin{matrix}0 & \\frac{T v}{\\dot\\psi} \\cos{\\left (T \\dot\\psi + \\psi \\right )} - \\frac{v}{\\dot\\psi^{2}} \\left(- \\sin{\\left (\\psi \\right )} + \\sin{\\left (T \\dot\\psi + \\psi \\right )}\\right) & 0 & 0\\\\0 & \\frac{T v}{\\dot\\psi} \\sin{\\left (T \\dot\\psi + \\psi \\right )} - \\frac{v}{\\dot\\psi^{2}} \\left(\\cos{\\left (\\psi \\right )} - \\cos{\\left (T \\dot\\psi + \\psi \\right )}\\right) & 0 & 0\\\\T & 0 & 0 & 0\\\\0 & T & 0 & 0\\\\0 & 0 & T & 0\\\\0 & 0 & 0 & T\\end{matrix}\\right]\n" ] } ], "prompt_number": 417 }, { "cell_type": "heading", "level": 2, "metadata": {}, "source": [ "Process Noise Covariance Matrix $Q$" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Kelly, A. (1994). A 3D state space formulation of a navigation Kalman filter for autonomous vehicles, (May). Retrieved from http://oai.dtic.mil/oai/oai?verb=getRecord&metadataPrefix=html&identifier=ADA282853: \"The state uncertainty model models the disturbances which excite the linear system. Conceptually, it estimates how bad things can get when the system is run open loop for a given period of time.\n", "The $Q$ matrix can be assumed diagonal, and its elements set to the predicted magnitude of the truncated terms in the constant velocity model. They can arise from:\n", "\n", "* disturbances such as terrain following loads\n", "* neglected control inputs such as sharp turns, braking or accelerating\n", "* neglected derivatives in the dead reckoning model\n", "* neglected states\"" ] }, { "cell_type": "code", "collapsed": false, "input": [ "jerkmax = 300.0 # m/s3\n", "\n", "pitchrateaccmax= 200.0 *np.pi/180.0 # rad/s2\n", "rollrateaccmax = 200.0 *np.pi/180.0 # rad/s2\n", "yawrateaccmax = 80.0 *np.pi/180.0 # rad/s2" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 418 }, { "cell_type": "code", "collapsed": false, "input": [ "print('Sigma ax: %.2f m/s2' % (dt * jerkmax))\n", "print('Sigma yaw: %.3f 1/s' % (dt * yawrateaccmax))\n", "print('Sigma pitch: %.3f 1/s' % (dt * pitchrateaccmax))\n", "print('Sigma roll: %.3f 1/s' % (dt * rollrateaccmax))" ], "language": "python", "metadata": {}, "outputs": [ { "output_type": "stream", "stream": "stdout", "text": [ "Sigma ax: 6.00 m/s2\n", "Sigma yaw: 0.028 1/s\n", "Sigma pitch: 0.070 1/s\n", "Sigma roll: 0.070 1/s\n" ] } ], "prompt_number": 419 }, { "cell_type": "code", "collapsed": false, "input": [ "Q = np.diagflat([[(dt * jerkmax)**2], # acceleration\n", " [(dt * yawrateaccmax)**2], # yawrate\n", " [(dt * pitchrateaccmax)**2], # pitchrate\n", " [(dt * rollrateaccmax)**2]]) # rollrate" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 420 }, { "cell_type": "code", "collapsed": false, "input": [ "fig = plt.figure(figsize=(numstates, numstates))\n", "im = plt.imshow(Q, interpolation=\"none\", cmap=plt.get_cmap('binary'))\n", "plt.title('Process Noise Covariance Matrix $Q$')\n", "ylocs, ylabels = plt.yticks()\n", "# set the locations of the yticks\n", "plt.yticks(np.arange(6))\n", "# set the locations and labels of the yticks\n", "plt.yticks(np.arange(5), \\\n", " ('$a_x$', '$\\dot \\psi$', '$\\dot \\phi$', '$\\dot \\Theta$'),\\\n", " fontsize=22)\n", "\n", "xlocs, xlabels = plt.xticks()\n", "# set the locations of the yticks\n", "plt.xticks(np.arange(6))\n", "# set the locations and labels of the yticks\n", "plt.xticks(np.arange(5), \\\n", " ('$a_x$', '$\\dot \\psi$', '$\\dot \\phi$', '$\\dot \\Theta$'),\\\n", " fontsize=22)\n", "\n", "plt.xlim([-0.5,3.5])\n", "plt.ylim([3.5, -0.5])\n", "\n", "from mpl_toolkits.axes_grid1 import make_axes_locatable\n", "divider = make_axes_locatable(plt.gca())\n", "cax = divider.append_axes(\"right\", \"5%\", pad=\"3%\")\n", "plt.colorbar(im, cax=cax)\n", "\n", "plt.tight_layout()" ], "language": "python", "metadata": {}, "outputs": [ { "metadata": {}, "output_type": "display_data", "png": 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qh6q5mnVNqkYzqTfffBMzZsyAi4sLHB0dMW7cONx9990AgJMnT6JTp04AgL//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\nacR+tP6YqRzMVQ7mWrs4kyI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"text": [ "" ] } ], "prompt_number": 421 }, { "cell_type": "heading", "level": 3, "metadata": {}, "source": [ "Estimated Position Error" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "$EPE \\sim \\mathrm{HDOP} \\cdot \\mathrm{URA}(1 \\sigma)$" ] }, { "cell_type": "code", "collapsed": false, "input": [ "plt.figure(figsize=(16,3))\n", "plt.plot(epe, label='$EPE$ from GNSS modul', marker='*', markevery=50)\n", "#plt.plot(speed)\n", "plt.ylabel('$EPE$ in $(m)$')\n", "plt.xlabel('Filterstep $k$')\n", "plt.xlim(0,6000)\n", "plt.legend(loc='best')\n", "#plt.savefig('Extended-Kalman-Filter-CTRV-Adaptive-R.png', dpi=72, transparent=True, bbox_inches='tight')\n", "plt.savefig('Extended-Kalman-Filter-CTRV-EPE.eps', bbox_inches='tight')" ], "language": "python", "metadata": {}, "outputs": [ { "metadata": {}, "output_type": "display_data", "png": 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KeUSkmjtWghs1aoSvry+vvvoqCxYs4ODBgxhv+UBSUlLYvn0706ZNY/Xq1Qwf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\njwkYP4d+ThosMq9Bfh4/hH7P+th8OjqqvHP77MOtYMuVukQlZLGoq8o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fDZVojdgFAuIA\nAAAASUVORK5CYII=\n", "text": [ "" ] } ], "prompt_number": 422 }, { "cell_type": "heading", "level": 3, "metadata": {}, "source": [ "Lat/Lon to Meters" ] }, { "cell_type": "code", "collapsed": false, "input": [ "R = 6378388.0 + altitude # m\n", "arc= 2.0*np.pi*R/360.0 # m/\u00b0\n", "\n", "dx = arc * np.cos(latitude*np.pi/180.0) * np.hstack((0.0, np.diff(longitude))) # in m\n", "dy = arc * np.hstack((0.0, np.diff(latitude))) # in m\n", "\n", "mx = np.cumsum(dx)\n", "my = np.cumsum(dy)\n", "\n", "ds = np.sqrt(dx**2+dy**2)\n", "\n", "GPS=np.hstack((True, (np.diff(ds)>0.0).astype('bool'))) # GPS Trigger for Kalman Filter" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 423 }, { "cell_type": "code", "collapsed": false, "input": [ "print('One degree of Lon is %.2fkm at %.1fm altitude.' % (arc[0]/1000.0, altitude[0]))" ], "language": "python", "metadata": {}, "outputs": [ { "output_type": "stream", "stream": "stdout", "text": [ "One degree of Lon is 111.33km at 117.7m altitude.\n" ] } ], "prompt_number": 424 }, { "cell_type": "heading", "level": 2, "metadata": {}, "source": [ "Measurement Noise Covariance Matrix $R$ (Adaptive)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "\"In practical use, the uncertainty estimates take on the significance of relative weights of state estimates and measurements. So it is not so much important that uncertainty is absolutely correct as it is that it be relatively consistent across all models\" - Kelly, A. (1994). A 3D state space formulation of a navigation Kalman filter for autonomous vehicles, (May). Retrieved from http://oai.dtic.mil/oai/oai?verb=getRecord&metadataPrefix=html&identifier=ADA282853" ] }, { "cell_type": "code", "collapsed": false, "input": [ "state" ], "language": "python", "metadata": {}, "outputs": [ { "latex": [ "$$\\left[\\begin{matrix}x\\\\y\\\\v\\\\\\psi\\\\\\phi\\\\\\Theta\\end{matrix}\\right]$$" ], "metadata": {}, "output_type": "pyout", "prompt_number": 425, "text": [ "\u23a1 x \u23a4\n", "\u23a2 \u23a5\n", "\u23a2 y \u23a5\n", "\u23a2 \u23a5\n", "\u23a2 v \u23a5\n", "\u23a2 \u23a5\n", "\u23a2 \\psi \u23a5\n", "\u23a2 \u23a5\n", "\u23a2 \\phi \u23a5\n", "\u23a2 \u23a5\n", "\u23a3\\Theta\u23a6" ] } ], "prompt_number": 425 }, { "cell_type": "code", "collapsed": false, "input": [ "R = np.diagflat([[(12.0)**2], # x\n", " [(12.0)**2], # y\n", " [(1.0)**2], # v\n", " [(1.0)**2], # heading \n", " [(0.5)**2], # pitch\n", " [(0.5)**2]]) # roll" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 426 }, { "cell_type": "code", "collapsed": false, "input": [ "fig = plt.figure(figsize=(numstates, numstates))\n", "im = plt.imshow(R, interpolation=\"none\", cmap=plt.get_cmap('binary'))\n", "plt.title('Measurement Noise Covariance Matrix $R$')\n", "ylocs, ylabels = plt.yticks()\n", "# set the locations of the yticks\n", "plt.yticks(np.arange(7))\n", "# set the locations and labels of the yticks\n", "plt.yticks(np.arange(6), \\\n", " ('$x$', '$y$', '$v$', '$\\psi$', '$\\phi$', '$\\Theta$'),\\\n", " fontsize=22)\n", "\n", "xlocs, xlabels = plt.xticks()\n", "# set the locations of the yticks\n", "plt.xticks(np.arange(7))\n", "# set the locations and labels of the yticks\n", "plt.xticks(np.arange(6), \\\n", " ('$x$', '$y$', '$v$', '$\\psi$', '$\\phi$', '$\\Theta$'),\\\n", " fontsize=22)\n", "\n", "plt.xlim([-0.5,5.5])\n", "plt.ylim([5.5, -0.5])\n", "\n", "from mpl_toolkits.axes_grid1 import make_axes_locatable\n", "divider = make_axes_locatable(plt.gca())\n", "cax = divider.append_axes(\"right\", \"5%\", pad=\"3%\")\n", "plt.colorbar(im, cax=cax)\n", "\n", "plt.tight_layout()" ], "language": "python", "metadata": {}, "outputs": [ { "metadata": {}, "output_type": "display_data", "png": 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Wta+LIkVERCW09mZWF0VKD+9qtPbEs4YeHkfZM8qeD1B/Rq29VuiiSBERUQmt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\nNh3P3GMpxaJvQS/1yiuv4JVXXlG6L0R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"text": [ "" ] } ], "prompt_number": 427 }, { "cell_type": "heading", "level": 3, "metadata": {}, "source": [ "Position" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "$R$ is just initialized here. In the Kalman Filter Step it will calculated dynamically with the $EPE$ (Estimated Position Error) from the GPS signal as well as depending on the $speed$, like proposed in [Wender, S. (2008). Multisensorsystem zur erweiterten Fahrzeugumfelderfassung. Retrieved from http://vts.uni-ulm.de/docs/2008/6605/vts_6605_9026.pdf P.108]." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "$\\sigma_p^2 = c \\cdot \\sigma_\\text{speed}^2 + \\sigma_\\text{EPE}^2$\n", "\n", "with \n", "\n", "$\\sigma_\\text{speed} = (v+\\epsilon)^{-\\xi}$\n", "\n", "$\\sigma_\\text{EPE} = \\zeta \\cdot EPE$" ] }, { "cell_type": "code", "collapsed": false, "input": [ "epsilon = 0.1\n", "xi = 500.0\n", "zeta = 50.0\n", "\n", "spspeed=xi/((speed/3.6)+epsilon)\n", "spepe=zeta*epe\n", "sp = (spspeed)**2 + (spepe)**2" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 428 }, { "cell_type": "code", "collapsed": false, "input": [ "plt.figure(figsize=(6,2))\n", "plt.semilogy(spspeed**2, label='$\\sigma_{x/y}$ from speed', marker='*', markevery=150)\n", "plt.semilogy(spepe**2, label='$\\sigma_{x/y}$ from EPE', marker='x', markevery=150)\n", "plt.semilogy(sp, label='Res.', marker='o', markevery=150)\n", "plt.ylabel('Values for $R$ Matrix')\n", "plt.xlabel('Filterstep $k$')\n", "plt.xlim(0,6000)\n", "#plt.legend(loc='best')\n", "plt.legend(bbox_to_anchor=(0., 1.02, 1., .102), loc=3,\n", " ncol=3, mode=\"expand\", borderaxespad=0.)\n", "#plt.savefig('Extended-Kalman-Filter-CTRV-Adaptive-R.png', dpi=72, transparent=True, bbox_inches='tight')\n", "plt.savefig('Extended-Kalman-Filter-CTRV-Adaptive-R.eps', bbox_inches='tight')" ], "language": "python", "metadata": {}, "outputs": [ { "metadata": {}, "output_type": "display_data", "png": 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PkHUDQb/azqVLl4rs0/a06DwicXZ25rfffkOpVPLmm28yYMAAfvjhh3IbkdGjR9OpUyci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\nAABJRU5ErkJggg==\n", "text": [ "" ] } ], "prompt_number": 429 }, { "cell_type": "heading", "level": 3, "metadata": {}, "source": [ "Attitude" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Because the estimation of Roll and Pitch is only valid for quasistatic situations (which is not valid for a moving vehicle), the values for the measured rotations are dynamically chosen." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Uncertainty should be high when car is moving and very low, when the vehicle is standing still" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "$\\sigma_\\Theta=\\sigma_\\psi=\\left[\\rho+\\gamma\\cdot a\\right]^2$" ] }, { "cell_type": "code", "collapsed": false, "input": [ "rho = 200.0\n", "gamma=500.0\n", "\n", "sroll = (rho + gamma*ay)**2\n", "spitch= (rho + gamma*ax)**2" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 430 }, { "cell_type": "code", "collapsed": false, "input": [ "plt.figure(figsize=(6,2))\n", "plt.semilogy(sroll, label='$\\sigma_{\\Theta}$', marker='o', markevery=150, alpha=0.8)\n", "plt.semilogy(spitch, label='$\\sigma_{\\phi}$', marker='*', markevery=150, alpha=0.9)\n", "plt.ylabel('Values for $R$ Matrix')\n", "plt.xlabel('Filterstep $k$')\n", "plt.xlim(0,6000)\n", "plt.legend(bbox_to_anchor=(0.0, 1.02, 1., .102), loc=3,\n", " ncol=2, mode=\"expand\", borderaxespad=0.)\n", "#plt.savefig('Extended-Kalman-Filter-CTRV-Adaptive-R.png', dpi=72, transparent=True, bbox_inches='tight')\n", "plt.savefig('Extended-Kalman-Filter-CTRV-Adaptive-R2.eps', bbox_inches='tight')" ], "language": "python", "metadata": {}, "outputs": [ { "metadata": {}, "output_type": "display_data", "png": 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/CSRR1XSRA0JBH+xQjnoS0YcimNvU67I2EEF01F13dxJzB08n/QVLpjJxfqXb\nZ2JDb6CqbUf3hcsyyCJ3jDOARqOevAM0ESwfcwDAxQDNG6ynfI2gQZIkJs30zGd23xzfToVDgqaz\nIO5dn8u174cvdTireNqPweJRWxgUON6h7G2li+mwVLvtT9H2xfzPEy8jCIJaTogulqUJO92Wv3R/\nODWD2xhXE8kHMwyYRQmhWIe8OZyZCVGcfLgFutrpIKMzjEUwusoou0P+MYlTuRKCoEWSZSbNHERy\nkqLp1W4SCdG6fv7tom8UiS9w9x2MibifmWUJfKhXlHQUykkmZqzW9g2cEbl6jsDMhRqXshaN+pTM\nqocxmc8rWma6QBAEZg5/iSPnPCv+OMtRWup13HbnDQ6ahFbOwOOP/pBJ0T9weN76HvtKkWjPZhO8\n4zdIUaNpv/VP6E7vYmfjozQOCXLgZHjDyLAbmTn8z2wvu56OroBjiZFrMDT6Hs3x1jHZHM/JGxiK\nxIrNmzezcuVKxo8fz8mTJ5k8eTInT54kLS3tkm8kALd/dwLzlgfy9F37Obg/x4FHfWj/cZBFEmco\nG4P1RDBsUgGn6v9s27GtFEaOBLQwcZ6S30aRKHUZso0Ioh0FktXR9bztRCYHeXbZYJ9OXRRMfY1I\nxZkOVXUxfkIgUvAZwP3zu/Z84bE8h/QkE4Jo5OCGX2BJWqa6lDhxpJYTh8eQmBoAgsbnE13jeZFJ\nMwYBAuWFJprOi27zS8UPUdbyKfcsfZ4j537kcF8Aasol3v2tQHRMAHNGroNqOFi9Rn1+374DmIZv\nZsm1tzu8L28nOqtWnSAInC00U1MusXWDFkmSKD9tRtAIavl//FChSFbc9CfMYrND+2RkV625w7VY\nZNf3KUsyp8u38srav3L1tJnq+J462kJoRaZbimfHtBJlfgXWkKjVoNdq4Uwk8SPDmR4XxklabOWP\nVdRZMzMzKShu9oFCcE03npcJDxEYlRgMskhTrRmDUbk/doqGdotE+Um5K79itV5yUkCn9YUi8TFt\nJ7Na9J1Qvtr1Jl+ZjSR12SSHDYL4sdDZpb5bWyFx1TgNMxTH43YUiZJeu1lhM1o5BPnHLKDVM++W\nCNt4W0wkTTaCRk9+nnLYcZbh3XHXcmbF/IX3vvoxZS2fKBvMUSNFJ9t4ee2LvPrLHyDJIl+mv054\nwBibC57eUiRz56JpruTIXxWKYeHoZgKOvM3Bj9ZxaryZkXM6kEOjffoeDWxBf10YHZYqGwWbutZj\nfud0eaHmnbAMAAAgAElEQVSZ/ZYHWXGbd/aXr/CZIpk0aRLPPfcc99xzj6qp9eabb3Ly5En+/Oc/\n90tjeov09HTKBq1U04HaIVwb9yEhekU/8LP80QgmhYK4fXIlaBU3F4drfkhl61b1OaGtAXter8Np\nSrQgdDb53CZfKRLo/qRvlSF4cgHhCdaT07LssQSsOuBwMlZPVSFD1BOw9w7Jyp8PhqHXjfqYwYFK\nXc4Uj/2pcHDVS1RVl3PVyGTOj3D13jo3dj3DQ+Z13za7eiICk9i6+WivtccWjdpMROAEQDmdrlv/\nZ2Ku2+Aw3s5U5P73R1JSdE6VF2mFYG4dm4Usy2Ts3UFjrE0W4E7Occ3pWCbURAHw9tJqh/cxd8Q/\niQ6ewRe58S7P9QjaAMWS3Qn2GlkAeq0GvdZ3FyCGHGXDsRo1LrrNUePL+h24aEuZ2hHM7Wq+/GMS\nJ3NlNBpl8588FZJSHOeaHBiuUB9dcHAXEzSYeaPeYl/Vw673QqLAiVMRH347k4Y8S5BOad//vpbg\nwhkw1qQwYtQg5q3MY0hQqhod0pkiWT76IAHa7pWOAve9RsCxD9zee2f+SYfxGihcdeHdgXWRcvbs\nWe655x41LcsyDz30EG+//XafG9HfMIr1FDbZ7E8Ei43tpCndjyxL7K38rsMmosBJYCiaFTVJWe7R\nJgIognkfYT3p3/H9IUyaOUg96TvDVxcQzsiPq0cq29ujZ5whGFsROhrcLkbOCNePUX8nRzmyB+be\nFMp/3b6ZxfFbWLTwJlbe95jHTXF/1aMevdU6Y0So8jFMGPwoc28KJWlGEIIgkDQjqEcqyGUXPlEN\n2LZ/tZas4tddxtvZAK7NVO1gACfKCoV6pObH/GPTKro7qwmyXf9lxzm4v/r7avjc3sAsyrSbRNo7\nOmk3iZhFx7botQoby/rXk03Evo7jR0QammWOH3Ws42h6O+ufq6foZCvLHpYpym1l/XP1HN3tOI8a\nz8tMnipw5wMyk6YH03TedcwEY4tHI0mhswlt3Wn3DZRdFQFSh/9e3UQAfv3oaRejxqW3TyAqUTEM\ntW4i7vBlyezuDWJFM7lNf+PjawxYNBKioLRJFOQrwrO4z6ytYcOGUVNTQ0xMDAkJCRw4cIDo6Ggk\nyb22xqVGSfMmpkX/Qlmk7Kx4s8wbCGks6FZDAlBtQ2S7U5CvEIwtyKJZOQlq9V5P/VaSG3Arc2ht\nEln/XL3iAmK1RPo7zWR+3srVC0M8a0zZfTzVka2UNN0FVm0yLwubR6qnSwYkmI3IWlfngFbcOjYH\nrWC7PyHy+8SFLydEN5I281lkRMIDRjs8k5aWxmdFziUpyD3/J8YN/p7H+tQ+drlBb7dUdJvXLWQZ\nRDPFTW9xdGcrhXt/QvhVNSz5LuzcqHNwuSEIgiq43bpBoSIRcBgvTeUJdmZ8RECoCUOWUXmvFveb\nsP3MEDoaXU+lHp7rjpowi7LicFEnK5XIMu0WCegZ1eENTY0yG/4oETsalj8MO9+Bg1+LpMwRmH2d\nltQFGkKCtZzONztYnSdOlcBic6Ey93qbbCB5shEmu5cVCO0NIGiQg1wpgKA9r4CruY9P0Gr0CAgO\n77Si7SvX79GD65nqtm8YHJhM2YVPuWA6zczhL1LXcYCSqleIKClkdE0IedMUSmbTvCsv3r3PFMkj\njzyi8vqeeeYZFi1axLRp03j88ccvWuP6ikZjbtcv28JZKmeS1/A3h3yyLJP+UavHk6PQA+rC8blO\nRS3Y3N5tHd5gfwLWCIruf9pNOvUE7LbudptqqSR01WnHSnALWcZwqJXG+jbfqR6n/thvIqAsrqH6\nOARBICwg3mUTsWJxvM2NRU/Hqt1cpf6ubN3Bwrj3bW1zcxp1C3MHgvECQnsDM+YYWTC/CUlS9n9n\nlxvgnYo8urOV7zxxA0W5FxxP4Tt6SNV6a651k9DK6p/ZIjlQA6rDRVDfU4jOcfPpK6bMlVlwA0hy\n11jJsHCpch1AY2pFI5kwmyW2vg5mowiisQ8edBUFEvdz2VOZvtUV1nlDt5wBwYMLpMM1T7Oj7AYK\nGl+lui2dsy1fcKDqcc6176FweA3bp9kcccqyTPpmsVdrQX+iP+vXPv/888/7kjEtLY3k5K4wnNOm\n8eCDD7Jq1SruvffiecXdvXs3Dz74IEeOHCE8PJyEhAS3+UpKSnjphTcICReIjtVhyDJyvlokZcKt\nhOrj2Lz9j5yvkYmOERBEE4ZcLeerRaJjFYJsx3utnMlvJywMhsYIGHIkNT/Q53RBtoWsvRLNTR1o\nBB311aJD/db2ekp//X4bzedFOjrMFGXJ1FYqC/S4aSGO+YdJIIkYss3UV3aq9Z86IXK+RmboMAn0\nQRiOdlJfaVTu60MwZBnZ90Ure7e0YDKbGDMVDu8wcTS9E1mCC40S9RVd5Wl0GI7TVZ+I0NmspGsk\nomN1JIV+l8Ov/g+lNfXET5wKKMJGezsk5/S6devAEoIxfCcyFvV9hIbrGBqroyQnlHOVrQ7PF5Xk\nEhM3GAGBf2xeyrnKVqJjdQRoB9OYn0p2wcdED+lEMLZgyJGV9+FlvOvL24nuEpYXHJepLIQWUaIo\nC2W8NVrGTbUJK4NDNSr7rL5aJDhUo5bXXGfEJBgxiyDJAqePwahxQSxYKirqpk7zo2p/AI3VkBAZ\nyIVgIwcL2pT2DTWDLCnvs8rsML+qKyVGdUV0MOTA+RoYEQtGEYpz4XyNTMRQ0Gts9639O5UDTXX0\ny/zOOyZRdQYqy6DyNIgidLaA0QQxI5VzasaXIuGDg7jlHgkNAvlHzQgaDUOHS32o3/X52URRPEqh\nAEdnRDIqKoDGsE4MJ7Tq/AQoytYhN05xmY933vIwDcEbKMg2IQiKjZR1rljni2Bqs7UnVg+6ALfz\nqb1uGLqgvW7bv+NjiTNFMqFhgut6ExDS7XrQl3Ra7Bvs2P0h2Rmd7P6knUVzHmDMGBsrurfoVthe\nXl7ebSH2hor9iT179vDCCy8QExPD//7v/zJ27Fi3+ZyF7VbMi93AsJA5bD4+zOG6lXVgLzRd8oCF\nne9ATQlcPVfjoHbYF7hVbeyhIZ8hy0hDrYXIoVqSElswHJdpOg+zbwxRVJS7VAbthYAuDv664HxP\nDgxX2HCyTP4xmUKDpLjLeFvroDarCi+1gchB4Q71odEhByvecO+reZKAnI8BaHnStxADVqOvjz97\nhzc+/pFHo8fY0CUkD3maqrZ0j8adgdpolo3e42LA52wk6gxbXA4FOV9qCRxpJnGaQH5+GE31kndZ\ni2gBSycEhIBoxnCwmVO5Eg3nNEQOx0Ht1hlzC+IYW6uM38m4Oo6NPudwXw4IVZVFrPBFdXcg1Htz\njlhob6R7o0YPwv7eQ4OzTPO+/Ulsur4OgNsyIgkya/lwjsHl3QfrRnBjgvswx87KIQ7GsnbmAWAT\ntrtAEplqvpFcyyaHyzYDUVjyIG7XGzkoQlUGuhi4Y1yeg2LBk3dtGxj1X6tlu0e2jyAgit27rLZi\n9erVfPnllwwbNky1bAclHsnTTz+NKIo88sgj/OQnP2H+/PksWLCA2tpann32Wd5914ttgakNEBSt\nDh91sVMXBRMySMPpEy1dLAyYf6NGVQP2FZ40VsBqFAaFhfaeScNInBGosBvs8zunu6BM5C73D22t\nJFnbZ+kE0aRopdjBGytOcPqYrbYJgiAgCDIWC3y1HiRBAtmMQICySPo2EAit512vtdUjh3nWRrGq\nSd552wMUdD7X9T6cxgqoatupxiz32D8P4XWFzmaXcXJ+0h4py5VgT9BlqKcPVfvj7h2pyhiiGTkg\nhMbzMpOmakicHkR+roamWiO4s7HVBqAXbYcWjexm7vWSA6HXKuq9KnsLRb03QNd/IRkmTdfa5DAo\nY9VmEdBrnero4ybiKg+SXeQ8elGruNrvcqUfaNGxJDeBzqXPs7e5d+F27T0uOHtTFiydyG42EqGj\nkVw2uVy3GogWGiTP641ocdlIrol5mUM1T/Wo3d40PFfd82tCBj3P6RM9t0vyhG5n1LRp0xg/fjy/\n/e1vKS0txWw2YzKZ1D+jsWfyg1WrVrFtm6NraGs8km3btpGXl8emTZvIz89XB2Dw4MHd1iOYO5QA\nP3Y8zDZzhftAROZOhI5mBOQuoanEV+vBbMZFaOoLVDfcx91omggCgtAlmLXyiJEQRBNCe73CB5Bl\n22nH3Knw9d1t3O7iO7iVAXhZebwQoNbF786HtExKDaG5uh2hvUlVOvAIycJNtfdy98GJ6It2q5e1\nlTkE7n2ZsH/dg66we+pEo9E4CLHNJrnH78OdQSrgg6zE87gIpjaFujF3KO/M6iTRbTEiyBJzr9eS\nlKJBkEwkT+pk7kL3Wj2yk3NMwd1G4qZtyibhmNd5AddrBfQ6De2ioP4F6PpP0D5QdfgiD7JCMLU6\nzPERTWEM1U/tt7b0Bda1wHpYc7feCOY2h/bfOiab2DBXiqE7OaI7Dc8QnWIIMzw0Tf3O+gvdUiTH\njh0jNzeXt956i3nz5pGcnMxDDz3EnXfeSXCwZ2GvJ8yfP191u2KFfTwSQI1HYjAY2L59O01NTTz1\nlI87siwitDciBw8mp+459G2ui6Bg6mIxmDpoPGdmUkowSZONXSwj3wfXnlRVghNJ7N0qubDGGs/L\nTJoR0cWW0tB4rhOhyyhMEI3IYqBCRciS0jaTHdlsMWI4JpI4MwShw4uwth8EZ/aaM0nTBIRJWlxU\noq2bnNPiPjQ7w6W8kM9sVsaB2ZuwTHAfAMzen5FViG1vA9ITCAgIrXVdNkG9h1uNqC72kmBqQ9bo\nQatzYXdY71thtbPw0mAEu1encXqNsiyT/qmRxTc7hnhVFmoN7XZtdLeA67WCYvR4kWDt38Wsw0Fp\noAshOpl2UXJfrxNbV3D6NgK1jvGQvMHZD5wLJFGxUZEsSrjjbqBSqtMEz+uNZKNKtBr3niNsG4XO\nQbPMW5CvBV2hWMIDxtgZF/cPfKJxp0yZwosvvkhpaSnPPPMM//73vxkxYgTZ2dn90gh38UgqKyu5\n4447ePXVV3n//fdZsGCB1zJef8HC5n+JbP6XyI6PTGroUkvOegw5kmqNCqhpwdLBvOssaMROCo7L\nJKVomLNE6zG/c3rGAoG0pRpqK+D0MRupGjYIh/xRQwVlgRMEklI0REVaHMvLMmLI6nAov+Bou7JI\nGVs4m9ficLJwac9RIwX767ttb0/SBdlm9/clMwX76yg4YFs8Y9+JJ6PERiZnlLS4pg02FyOZmZkO\nAYNyc3PV9NybFFK8INuk2oAo42Prf/5RI+/9uUk9jRmyjBiOKAGddDUGsp5bpvp/cmm/LGE46lie\nIcuI4Zit/yezJE5lierptzxX5lSWzT7CkCNRcFDZqKzC116PtwwHCzvU8RJkweG+IUemKM/Ijk9c\nn7fagJTnCZTnCeom0h/v/3JKFx5X/JHZ7uOUdsxfcLidzGLbZr7/szfpKFxGVFAKw0MWYCla4TD/\nnOej83xzSdvXJ5oo2H+egoONYGpDaK/32p+512sRwPt6k212qC8zM1NNH01v58Un6ziw3aYR+OKT\ndWxZr3BiUhcFEz8hgNoKSWUPJ04aTWiElpjQ68jMzGTNmjXkHzZTmN1/weB65GvLYDDw9ttvs3Hj\nRsaMGcOGDRt6JfG/GPFIyjRLXVggcmg0tNZ5lF/0B1RfRrJydp88TeNikQtKXAiVEnK+Zx9Twv66\nnVdhOTTao/dXOTjSezS8i4wH907uNo8UOYq2B94CQGipRdNciRjnGsvjizOzsEjux8kKFytpWVZY\nTkB4RyC3Hx2vWgrbwxo3xkVIavc8+C6klkOjFTVrX1WM3UAOCOW6Y0MY1aCcDgtjGjg0vsonwex/\nCnx9Hw/undz13gVuPTqOiA6FkpBDImld/YlPdeXXv4yhcZ2SMHaxyQLDwF7h5CJDDopA1ujY9XEb\nL/+0zMGPm3tfcqEkzghW1zdnTxmrbv4nE2cEEBu6RKVwrOX1l2V7t7RYfX09mzZt4u233+bChQs8\n+OCD7N27t181tfojHslLPxFZfr+GxBSNg3fS/ByZogIZyycSS7+jTLqe+grKPyZxbJ/Eiie0qvqm\n9b7Vl1H8WAEEaDoveyjvgsfyTx1swyJJTJimTIQzuQI6LUycZfM2Kgd59v5acKC+R/3p77T1NL1w\ndLjndEkeaYFP0nntsxz9g6IyPuPH7yANT3TwTXRd3Eds2fk3ylu2+Ow9eFislsTJCotFIyv1GcLd\n+IqartgeFBxtRw5SvCljbFWoP7v+FB6XCdLYx/dQ/sdPcRz/ibMUeVafxk8XxMHCDs60CCwcHa5S\nJGGDIG2pIphVvC3bBLMD/X4vdfpMroBFlElJtb2PThEmpdryayTb5mrIEYkqbmN5rDJ/9pwqpz3T\n1Zuvu/So0OVs3vlXAJISFRZZ/lE9aIQee1/ubbrgYCOlxVpa2kV2792BXhPqxZecyNm8FgTRokaY\nzDtiZNTwGcy6swxDlpG9ew8RpL+FUWlBan93fNNKR4vMf99Hv6BbiiQwMJAxY8awcuVKZs+erTzk\ndLJftMg979sTLkY8klc+WuJwYuvPE52V6pg01T210Rc4WB93od2iCDB1QaEI5nYMORKJqcGqdfnF\nQm/9LvlCkVghRcSiaVYMCDuvfQbz5FscZCRWuPNK7NGz79UaNF2U2+C2IG7JHueWInEoKyBUkUm5\noQQ9noDPBBAyXhmf+YZRdtH9PMObjMTqYXrR4VDiGpRNt2h4IwcmKF6ffaV2LyW6lQH1E7qbm0uP\nj2HYhRD1vd96dLxKkYBvquhCcyXSx/ewefZZCAhV2VSJKRq3KtgXA/br1uKHIOujaZwr05Mwq1A1\nF7D3V1ewv17xJbdEy/TR/ySr9ucALIn/Uo2h48478YBTJCNGjKCzs5PXX3/dY/z0khLfA9NfrHgk\nR3fBvOsFZizovxNdSzMOMa1Pn1KE6cNGCCSmCD6fME5mSW4pjsQUDWbR0fsqQPlJmU5JJGWmclIu\nL5KBjot6ArSIMGayzNQqDf9uUCih+MkSoOmKkNdHiqQrrWmuUtPzB3+EOfEGl5j09t58wUaROHgP\n/g1ExihaXQXHLAgmyaE9bikSh3RLj0/As+MC6ESJABh/QgN9PKFOvEahkAuzZYrlFnW8rPetgllk\nKC+2CWZ9Ln/OEISOxktOUfRf2p6jIDt46x6aZ+LGUSFq2p4iyShpcaFINOfPcF1UM8a53yfzoOIu\naYnpIB0oFCuC0Skeiuf50p/pGQsE6s8JVJTLBFm0WCztXDP9XuISbiBM/w2t5hKihinLtiAIJF2t\nxXBMoYqXJKWQGPUEBVkWcqorGDpmDqH6OLcU2J49oTQ21QwcRfJtQHp6Oi++s4SkKQJTUm08076e\n6FyM9P4FE5OUzchXeYs3ikOvFQbEaMwXWNsxvlzL6XibplS7KDBUCqItyLNgricUiQu0eszjrsU0\n7S6kYRPUy57ipOzf2kbkEJmk5A4Mx2UaW0KZc30gVjsOXymS7uDuBHzVhXCqIhX5jY0f33vIgYO4\ncVwmw169X71WPKyR/RPdx6EBRRgvC759st7kapcb+uqF+M5DEwk16X2mSMJfUbgoxtmrMU2/H/2J\nTwnI34bcUMR7aZfWF1b+MYlTJySGtgTTEhHCA7e+wnVdKlc5db+hpNlmo2JvSLtsciEB2sE+1SFK\nRoxiPYbcmoGNR3K54+xJkE0yiSmyeoLu64kuMUWDIMicOwvv/BoiR6CcgI/LKCci1/yD24I4eNrG\nc/dOcXS5MOjiwdvz5DslmZSZuJR/sdKdZpmU6YAsOLRH8/IgmibpKI5p7JYiCdcLHCltoLjRiChr\neGD6cKbHhXmnWEQz+7d9Cts+JfWXWwje+Qd2MhWDxT1FMvemUAyHW1WtFzk0FMPBZjU+TFhngI8U\nSc9PwFfF207AGSUtML9v72fiNRCsi3EaH+8U88SqKDbX1flW/ry+tW+g0iezJCyi5EQBikxKVbwR\n+1Le3jOt3BgXqaZdKJJd21kcUIw56Sb25FcSUqJQgJrWOg588HcCj27sGn/NJR+PU1kSU42R/Hpq\nPF8Nv5303bvQa0JJS0sjZfD/sG3rP5C1ehKvCQdZxJAjMaN4BEMOrKD9tv8jo1g5VKnxmNb9D4Kx\nlVlPK0oEmZmZ5Obm0tzcfGkiJF6uSE9Pp5wlQP+f5Pd/LRI5VHDQ+56zxFa+80lqyo54im+2nSi7\nozjcUSxW62N7dc6LzYdWKZIyHaevUlRnY85rOPPGYFYviON9Lx5LH9w7meyKVo4UVbMm2TYWa/M0\nzBw3gulxbtxI2CGj66O2xM9CV34YgLdvrFHvz4r5C4dr7OJ7W4yqRb4cGk1ykZb8EYpbkcW5CcQ2\nhfWZWnCH2IZwqqKUen2lSLzKSAIHcUdikXo6BjgzrIl9E917MJYDQlkW8hpbm1zdAbnNPwAUSX/M\nzf6gyu88PIFQY4BHikQOiVRO7yjUiXXM5eDBLvZZ9u91oGRA9rg/MxmtrNQpjpiMOXkZmnMGjAt/\ngD53Mx/JSuwe+/drzxXwRH21rvoYOdTRu8OAxWz/T4eDkZ6T6xR3m0DuqTr0N7m6b/AEXw3LfIE3\nVy3dt0PT5WLchuK3g5iVEIVe6v5DOlLa4LCJAKxJllhb2NDtRmKFdRNRIcsInc2MKm3HEv87ss/9\nHKmlDeNuCU12KJKgYfqsuQwfdkrdSLSS535HtQTTEO7FKr0bBFgGgNXo7VgnaJFGpkD/ORG+YpBb\n3c7xvBq4RmHznKppY26EnXuTdpt6fMBRm6slr0a+lwjWTQRAW5OHtlrZ2Czjr0OwmHD2AjSo3ccw\nF3LPjHt7gstLBeRbBncWt48kSi68Xl9cWXgLLuTricibq5buYHV1cbxRp7q6mBUX6/MmoBWkHl23\nh5XlZY+hgTPB3M6dB8cQuvtlknZmMHlDOMbfy6xpkvmvMSbWjO4kO2M7RedsbnEGdXj+qHQ+bIje\nMKgjgBnFI1iYF+/zM17fXZdPuJb/2kr7HYoTyu62f/tY85cDBvq07g5mUeZ4bi1rJnSoRqS5ZXVk\nV7i3Rwo8+IbX8q49ZXu/l0P/VFg63fp5Sy2Jcbxg9GCHZWU+SSK6kv3gwSV+b+DTKGVkZDBt2jTe\neusth+vV1dUu1y4l3DqL6wZqBLmuP3f+e3oCWQBhp811zED4IjqSIfHPP1g4XSCx7GE4bVDSRzK6\nX8TtodcKLAuKJSRAS6w51KdN5JascQCIsvtx93S9O9y05SwP7hpDqFGJb6KtOuGR6imstVnRB5s9\nL7STzvY9jGlS1RDi6/vJtYTVuaguEHGkoiIkdLOVCFfg2c/+sDXzpJ6Y85oefctmUWJNkuN3+8A4\niSOlvXOTYzUOdV9X/64XPYXQYucZusv33pAWRzcqgYfeQGiuImj7b9HU22nUyiJ0XiB87fUEf/kL\nQjb3zpGlO/h0vHnvvff41a9+xbvvvst1111HdXU1JSUlREVFUVZW1m+NcYe2tjauvfZann/+eZYv\nX+4x36svQNqNApNTfVfvHTtFwGxxFIa3WyQKcmzqud6ej+9SLHIWlheUSwTZ8VYV4b+zurB7YT1A\nwJZoQo16Gu9R3Irs+FgkfpxndeOwQRA/VqDTIiMIiqrzVeMUVWhv7XeXjmsIJ+KjGEKMerhK6Y9V\neD12ioBZlDi9WYc82syk6VoGtweRUdKCJiCItXlG1iRL7K7oYi9c0DNrXFS36sF/219LyojgbtWH\nrdSNtfxr45SFuKjKQkBO9+q/N6JlvmEU6zvLfB4P+/S0SNt4AATN1tGpt3h93vrb3X2rMNyqnnkT\ngOw0P0WJwi4KM3m2GaEHwuCBELZ765+v6eJcGYsoMGYK7Dmno6BCQhcDk1N9m7+Fx2V2V4jqfDDk\nQGaZpM6XnqinW9PW+WPfv76uF76mHdojCGScUdJzDV+jP70LQ7g1v8KWO1zYCXSq7d+//XOELe+w\ncHQ4urJDanmpskRg9gdklLSQU91Bc2c1C3/xX/QHfBK2r127ljVr1mAymXj88ceprq6moaGB3Nxc\nVq9e7bMrk97gueeeIzw8nKSkJI8bSXp6OuXaG3tcdl+FfG4F5S+FMGZhGOdm9d5poFVwZhX6GXIk\npk7WY9J55nH2h/GaTtSwYr97tds35uaqfV35eRCHUswc369npiZOpVyyK1o5UtqAVpAQZQ0zE6J8\nomqswvbuyngts5w1E1xlHGslLSF3K1bIzmNnjxtzxtAWaGZvUveGhO6QUjqcKWeHqumPrjHQGeDd\nxb5XYXtotIOxWPgriyiNbmZv0ll1bk2p1lA8SnnvbZKOZOl9ygJ9U/6/HITtMY1h1ER6d3ljj9Qz\nMVREtXBusO/Gf+0mkTVfKKfyf92uzI87dgayMTuUx9J8Z0Paw/7bs/ZvoFT1HdTpNVqX8L7vpp1y\nUAH3Vf2+deXbBB3cgK7I5mA1Y+6L/SJs92mlCQxU+M4BAQHMnDmTr776ioMHD9LW1tbjTWT16tUM\nHz6cKVOmOFzftm0biYmJjB8/nj/+8Y8AfP311yQnJzN06FB3RV1yuGNbzYgfwVVRnvn0tx4dj070\nPOxJlUPU35GtyseRmKLhrkMTPT4T1Rrs4AJ+8jQNAcW+Bc3yFfbyIJ0kMC87gDVBggP7YHpcGI+l\nxfPIvAQeS4v3Wb7isIkUVbNmQgePjTeyZkIHR4qqVV73zIQo1uY5jt0/8jSMH+4oY8muaPXIfrDG\n+xiocKc95bGrUZG7xnt+li10cahO5sTXvvmMGih0178lJ69i5J6htvdxUOeVHTSsuefzVq/VuMyL\nd4uUQ0hfccllJG5ixN90bEyvihJk2WET6U/4NEpvv/02W7Zsob29ndGj3cfc9hU9iUeSkZHBwYMH\nee+991i/fv0lj3HsDlZB+QM5Saw4kciM2HCvijcRXoTB4BiPIvWMTYjmTVA8uTya6+cHKfEvBIFJ\n0/nth+MAACAASURBVLQ8P2ycw/O+wH0sDO/wRZjuKzzJQKyb1fS4MGaOG8HawmBeOx3I2sJgZo0b\nwTWByoIRaNapm5G72BUCMLIhjJimsD4pJljhbbS646XLge758OGdto3jO9tdXYhru3GTY3uH/e+g\ntDc4VtHG6VNN6ru4Xit6jCWyLHss0a0hPW65Xiuo88J6oJt61TCfDzL9jYt9SBnSFsyyY+6jxXpD\n6MbvXoTWKPBJRhIREcGHH37IM888Q0REBAcOHGDOnDlcc801fPrpp6xevdrnCnsSj+S3v/0tAG+9\n9RZDhw7td++9/RlBLswY0H2mHmJEcxhphjjyjosQ6zmfgMDQCyG0BSmu86NaFWF/UuUQssbUeH6w\nF4huchyb3grT7WFlbfmi+TU9Lsx1gTDBXYcmEmDRsqG0gjXJEv+yu22NXYEMH+c18f5XJnRTJa8x\nZNzBR4NyB5anIcfGSwc7JQsP4VSj2oKZnz+K7fvqCYt09SYgar0fRMI7ArgQYlRDH19sdMfaOlLa\nwIoZElu60ldVaQmZbnYbS2RImzJve7P8WufFOwGKJtKkmBDooaa3A1v1GhG9VnEPZO2fr+uF/SHF\n2WSgOwxqD/SJRTykVZkn3R1Mu+tr4txePe4CnzaS559/nunTpwOQn5/Prl27eP3113nooYfo6Ojo\n0UbiDu7ikRw6dEhNf/e73e+kr79gITpGeWkhYXgVTjumNeRkK+TjhGnKpFCE456F4e7S9nz+IwWd\nGFo9W1bn50iIWs/37YVto+sG83lpLRlGz5bUBws7MJZooUuElJtrUS13fW0/wJTJWpf6rekzIQJj\nulixPRWmd5fOqVa+eOum5CxMz68XHcbXW3laQRH2WxdwpX+KpwBBJ3BPYiTlTSZ2lhoRBBFJUhQT\nwuwIBE/jc3UEDvVxjXth8Kls0Y33YJn4KcriaciRkANNaghhB2E7UHZEg6Y5jLXVzaxJlpA/01Iw\nWmTUVIGp19/D9pwP3LbPPi0HWUhM1YJGjyHb2G3+bsuToapMZtFtmi7PDr49rxUkMsskt+/D2XOD\nFSdOWmgM65lnggyn+e5s2Q7e52NhXQdSe7OqLLItVyZ+soRFdFbe8bxe+Oqbz7JtMEUxDW77E2gI\nYeORCm6/SlLn/9P7KsiqiuLRWcMc20+Ez/2zpjNKWngp8xznWzq4cZRgdRfXZ/i0kVg3EYCkpCSS\nkpJ44oknkGWZn//8531uRH9QGo/81HNXnE9M9mm9VlBdldjue7fjcJde2GLj089MDIKxGo/5k1I0\n2Nu2Od93tqv4wVxlAr3jIf/sCcHE1YezEYUFNGWKjoWirQxf2g8gWNzXv3B0OOWpGsyiTHmbBm1H\nCKKsYdY498J0d8/70r9wvcDavGrW2Mn7/5Fnc7XiS3mirOHaOC2lKfb9UwSinFLm2rTYYLI6BPa8\nEoA50MTEZMFBMcHj+JQIan3ZFa0YWk0QJhGfjIOq6oRpgiqUTbRrR7toK08OsVGwqufjHFt/lDpC\nWFvYgGaihvgp7eiCQpg6aQ5lgTrsI1e6a68c2hWLIzCMxBSzy/2epvOPSXanbM9j5XxNlDWkXaWh\n3t37cM6/V/k3dbKOc4O7fx/2afvvLzFFQ5olVKVIfJmPhspGla16bZwWXZSWIp3ImCk4CNK9rRey\nLKsx2SemQmmuzVGs/Ro3a2IQutHu+1fW0MZf5wnYWx3+dZ7A2kJb1Meefl/2abWvE5TJ6GgD33v0\nybpJEARWrFjR50b0RzyS11+wkHajczyS/ld39JR2oEgMnRha+ocisU97o0iGXxDU+ydyzb2iSKZ6\noUis6pAxkUGExioKAdbFva8UiWN6BE8fPIdWkBgbGciscVG0mGWfKZKZCVE8va+CoATbIp6TBTqt\noEoE08+0MDM4muW363i7rYq8LAnBh/GZ3kW1rD9ci6Gygbm3SrRrZRffUL7EM5GDTDy4TFFUcaZI\n7PszPS6MD+prOJHXwcTZegTVF5eXE/txDXJgl68yoW/xS45kSOz+t0TUCFjxE4UV+O+NEuMnCdz+\nve7j+8xMiOJXB1oJilLGQ7B7H5NV31oDQ5F48wVX3GiTPe2uEJErNNw3Ws8bNxp7NF6++Oar3qen\nqlrPbcOjOTK22vF5ZBeKfHeF6NC+vn5vxY1G/nrMTJMJFtxOv6DPZrJTp07tcyNmzJjB6dOnKS0t\nJTY2lg8++IBNmzZ1/6Ad7CmS3py4+pq2PxHN6GeKxHrNG0USX2+731uKBG8UifVUjtCnE5G7tP01\ntzIQD3ndpZVn4zgypVilACaldskmuiJD//E65ZBiEOpJSnFVk/ZIkZxR0pKpk7/OE9jaJtAeJKsb\nhpXvP2m6FrNFsRWysnTsDeysFMPIMGXrcEeR2GN5bBSmlPPIXdKDxKs1DoIEl/ZerUUODvR8vwfp\nGQsE9ZQtCEo46Zvv12Dvwj0xRYOsCwZLh8vz0+PC6IiI4eSUs7SLsL4omEk3mx0Mcn2lSDy5APKF\nInH1BSexNq8aGKGe0q0PWBdwzFD4tYaU5b5zKBrPyyxYqvHomw9gyVURLBEjoAqOjK12eF5GsNXf\nhWvjtOTZuUHp6/c2NjKQNROUcegviqTvktIeYsWKFcydO5fCwkJGjRrFm2++iU6nU+ORJCcnc++9\n9/Y4HsnrL9gMwww5Ax9j2j5G+RFDp9f8+V7Ki2oNcol5nlPd4ZB2Ls8+5jcoMhJv+T2muxYndzHX\n7fO7jcneh7Rz//paXotZpjzP5namOFeJWhnUZfVuzT+46+Ps6fsubjSyu0JEK1oXUxvVkVAbQXGu\nzJmTivZQpwQ52VBy0immulNMbvuY4c79OVTQYfd+BJoywr2395hoV77Q4/7ZpwVB4Gyxcsr+aj2Y\nzYon7QI7bTdDjoQhV+exvMYW2/tYPTtOfR+e8p84aXF73yrE3vGJ9+/PkCM5xGzPKGlhY/Y5dRPZ\nXSHy/9v78vgoyvv/9+xu7mwggdwHuSAXISGEcCVEuQQ1HOJXARWLWFG+eLTftuhXv7+2VsXa1tYv\nnvVoLcpVqaJ8C1SJhhzcIdwBEsIREhJykWST7Pn8/pjd2ZndmZ3Z7G4S0nm/XkqefY55Ps88M898\n7h/qjYxFoNWhVsGpf+esAsm1oTDuGSl5vaTkZLe9v+z6MSEBeK7cypUAwHPlBApvX8H+zpYV3r64\nf48Bvzo0SDnbhyr665BoC2+D0qHTnx2U3oBRB4DrFHQ2uoVjLRXbGoRrozqZdlumn4VByWXnFx8Z\nh5tBPUhoHiEYJkMo2mzh2TjEtQYx9aO6/HB3VRKnj5R8Dz56FR44yK9+s4wzussfC6oSedsMJdiu\n1Z2nxyCm3Z4Tuhx6S1KmQwCYcyoekR2BjGPkv6br0BDGzd0yoXU0aiLbHYxCw9YZEQAnCjAbeoUR\nW2ecA/EJwqKU8zBsXYB/plfxtg3q8UFnoAnEz2wZYJOPvj8Qi4BtoYfP+fGR0vFo9+/Drkk1AIBl\n5WnYOuMc73Usz9Cp2JuoireGApGS7dTWEdU2+u9H5ZexZqy96fQHF33w+Ix4AI6dYaU4n0oF+11h\nu09z6iKgPejbL8deZ8BYbf1i+8A5JAKAyeQ+fwFPwB0cicUG39n+N8q8UVLXjb78tQC4HIm61wfd\n+wJEOZLKc1okNo8EBUr0i8JZjuT0MRPOHDMytvxXTxGcOWb1bbCMF9Vu1XkIciTE/RyJJ8q261tb\nCd728TdHSL7fkR30+ii8ffFcOfuLnJb7eykVACVx/0jlSCgF9l/ScPqXX+hkyoQQbH7bgHPHhTgS\n1znukFD604aiaKOE4NGUQ3ps+5fXaJy63s1SX07ZEgLIZIJgCCAxjuRcq/XAt3AcAG0MYFlvi0Pt\n2KhRSI0O5ugAz540csZ3ZT3FnucuPUFqdDDj2GvREQr170+59GoPmnT8Juj9gSSOxGAwQK1Wo6Oj\ng/FyH0pwF0fio1dB6+XEV4eZI0mvH41x808CShXUb8/icCT3H0yBn94LV0bdgrrPGyEaP16OxFGY\nA4sicdvUc9B52XNMYhyJ1NAOyyrS4GXkD/XAcCSd/lhwwr0cCVtR6i7Yfuk5Wl+puUvYY1TWd+OI\noRl4kH5ALRxe8o1g1ERYOZLqKn4/C6kciWlUIoztNdg64yyITxAWp1yAfut8hiOxhMbJmEDreoJ6\nfHAriAJ8zF+wbuBIHMFCn3SOJF0wt42jL3WxEEBiHAlfvpx3ziqQJ5Ivx7I3t0+tdu7d4ABiHElG\nvevBRaXCXSFSJCnbVSoVxo4di5aWFkRHR7t80eECYhZC0aJrfnGUn54+9ce0jmB+89Wr0K2kRWKZ\nV8MQf9O1aLIKmxwc/ZVVCh0ibAxITo7bADkxgchBIDZ5uz+BFhv6lLlQHKxh/UKB+ARxxD0LVgP7\nzI6V03MVyFgovp8iOgJxY6T0GFiehLdeiXknHUfMsIQAYovXnAF9WETi3QtWkZGQ+TrvHA0KaM0f\n8K7k/RmukGy19fDDD6OoqAjPPPMMYmNjOQs4axa/bHfYw9sf6NWaXZ6t6yG2xe84E4ejSY2YWBeO\n0d3isYUcfa3HtgQxIilPYs6peJyObcGUmki3j+1ubmQogY8bcQZEobTTmGkL1iK3sRwBaj0unQUo\nBWAiQMF8IG+cCp0OgowsPjIWt/x1iGwPcEtuclfpA4Csq2EI7uGGgxmp8UVHgNV3wlGCOT548cSz\nk2IRaAvL3pxwJQzlqXTmSlc814crJB8k7777LgDg17/+tV1dXV2d3W9DAVIUzGxkXwnDoeQG6WOY\nD1O7g0NkbwX3+GLuqX7ELOMZ945zcaLd3BEKJrIjkNERyBBGP8KViY/J+puiKJiCIoCOEaCoFhh1\nwJ6PVTAadQDF84VsU1b3+UDdN/TE07YoqkzuV7rkO8+MQZ+XAf5ulP8DgI9ByeECnQ2vIwSKUJxI\nvrcrJB8ktvGxBgLV1dV466230NrairvuugurV68WbGvrkGgwAonjCRPvCADixpsAWEIa2DsUPdIV\ngkPJDUxZLP9AijlOTeVZHVrU5cgvoD0CGypUuNRCoSiClnW66kBkydeBaeDM19aB0eKQeOq0AYEs\nvQM73wNA529QKSi7fA8WuNfBUDp97hzfNh+JI4dG2/UUKgutD7s9AeGU2X25IUy0AJ0TzKFDIkBh\n/6VuVAeYkDKVrj9YUYnqJh3aWwjuiRyF2gQl6s62o6NFD4wDqo/pAIWCdkjkocd2v0iln6/MKP19\ntUhL5R+vvFaDagcOuEeq+9DUan9/nJmf5f7GtNFhQK5DmgOrWNny982WXuQupn1qKopNuHic9qkp\nmG+dg9T1Y4+/rCINP9R14fvxV0Qdkt1ZpvORGFHoplhbTpn/Xrx4EZs3b0ZDQwOio6OxbNkyjBs3\nzj0zcQCTyYRly5Zh+/btvPV8yvb+5A54pHQ85ytIbAziHwKqpw0pDaOQtoA2aVRePQr/r38BwmhQ\nXIcjZTuf4i6k2w/3HOea/0qB1LwG7sbtqGwX6pvQPBJ1YdY84HzK9vT60VDl/w8SR3CjQvAp2/tm\nroOy7H9pZbtvEJak1KC97zR+uHY/qJ425NZGojJLCaO2DZS+h1a2j/K3Zl8EGCV4YtNIzLhgjRjR\nny/+6DY1mkZoGGMRScr2gD7syhFWtk+uiURq4yi7vkNh71r2Zn1IF77PuOKWvD+O9tHtqmyXvALf\nfPMNJk2ahPPnzyMkJATV1dXIzc3Fzp07xTuz4Ew+Est177nnHixbJi2Zjy0S611RDjt/EBjjcmFS\nh7vtEAFYOgSRISM6AgAAY1xU3g80hpOOhNgIOvl0CGnXR9kdIgBgSJpJ/xs7ifWr/U0n4LMeEv8e\n9NO5EMiCMnv321zGHTqSIRLxnheWvWm5r7Z5f5xV+g9XSN4FL7zwAnbu3InNmzdjw4YN2Lx5M77+\n+mu8+OKLTl3QmXwkAFBUVITdu3f3Ozd85M3+b3Si6N+DRwJcT6jTH9xxJg5zTsUj/bqUL5oh/PTe\nxgjqZ1hvAOid+9/oWfq/6C163WE7QgbYp4tSgvgFD8ileha+MSDX6S+mz1UyeX8snusynDhIrl+/\njgKzDsCCGTNmoL6+3qkLFhQUIDiYuynZ+Ui8vLyYfCQlJSV49tlnsWbNGtx5551OXYdWMFOc7zR2\nvCNJY3h7o8fAfeHyjWH7Fdpv+1sBsJ2JHMHLpERkRyCTBdAh+nlIegJS6bsdEKzhWh/Z6lccQuUN\nY+R4jliKBuH8E+gdz9PZ9Q8DorJPpGUdnn98p+gTvDDrT9+hxZ1a9qYlx48Mfkh+m2RlZeH3v/89\nnn/+eQC0LfWbb76J7OxskZ7iEMpHUlhYiMLCQklj8OUjScpU4Lsb3rhQSceUycihLa7ElKmWcsoU\nL1B64fwDbGV7m7qMCb5Xcr4Jynb3KPsAa74OMWW7U8pkyojULO54Fgy0st1CnzvHPx9IkDKR6/ns\nCWW7t0GJk6f1THuKiI9XWquBqcy6XyzKdnaZHb2ZUbZPoa9/5MBZVNfrYAlHd+5YL0w6PdIs0YUF\nlO0Zo7jzt1Vmp+Sp+Ok/buIo02+W+qJpZLed8YCgsr1Gg2qFA2X7eQFlez4FUMQpZbvt/XFnebFi\nHHz0SvxfQxuOJjf2yzjB26B0bBxCPPu8ldR14dPjdLqJ+JHeA69sP3fuHIqKiqDRaBAbG4tr167B\n398f33zzDdLT08UHYOHy5csoKirCqVOnAAA7duzAnj178OGHHwIAPvvsMxw6dEhyPnhHnu1TL0bh\n4NgG3jpb2CrbiXcgKB2/05aXQQld0AhQPW0Y2xiCjPnVTJ3/3/8Tyib+eEKuYNu0c3axwMSUjIIK\nS6UPYJO2dbCU7Z5At48OFyLbcCaWVgDbeaWzYhl5/eKWQ7NwC/jWZ2fuRXT6WdfxjjNxOBl3E21q\n4fR89x9MgWFNqcNrWRTvPYt+B69vfkrH2vILxpJx5wEAX15MtVG2t4LS9zpUtmdcG42cy9b0y5Xx\nN5j1ARzsd0oJ4h8MStOCmFY1ZpyPwZXQW2gP0OJ8FO0170jZ3hbQi//LqQUgrmzXPPAeArY/BQDo\n8tHhq7wLDteJfZ2BglZlwPZp1eINeeBtUOLBA/YBaRll+6UIZEgSTbsHA+rZDtAJrc6dO4eDBw+i\noaEBUVFRmDp1Kry8XLfX9mQ+EgLnvzitX2gQbF9wNgbNj/cAAKrO6NEe6DmOhPlCcyNHQpQm6xfs\nIHMknipnK4JxJraF88VaWd9tn4HumBEqpQLjJ0nbH99RWfC6VCa4vmdPGNHhIJ9G6SUNjCIcCZW0\nDoWpETCGp+JAnZkjmaFk6i0cCUUsHInBaY4kMtKbUy+431kciYJQOFDTA9R4YWShgWnvmCPp6RdH\nUpigxogeHxy6wA1PP1gcCYdD9HMuXwq7LGauPuzMf99++22sW7cOAFBTU4Pk5GS3XNSWIzEYDEhJ\nScG+ffsQFRWFvLw8bNmyRXIoeUccyZSLUTgkgSOZdiEayU3BkjmSR0rH49Syx3D1/IuYdXoMDGv2\nM3Xu5kgY8183ciRE5QfKwP1qHk7mvwBwy0+Lr3MvArDSZoncy8ZfF/eix0hBrfSC0SYGGhuWMXST\nHoL3sc8BADsnXUSnP5cjORvTguYR9EcGn/mvFI6EgU4D34/vxtbp5zjxuWqa3sGNi7/DnJPx2H5X\np0OOBAYtKG2XHUdyIbKN44ArtN+JyhfwCQSlacHdx5MwyqwvOBHXjO3tN0TNf53jSN5HwPYnmbqv\nJ13ELX8u5zzhShhOjmm2u44nwLc3tUojtk/v3/M9XDkSh5pndhpddrpdVzBU85HUHINT7UvquhAf\nsgJ3X5iCg40juNFbzzdxFMglde7N18EXTfTDw834oOwqPiq/jP/6uhYfHm4WbF9dZUL1cYPD8dw5\nf3a5sr4b//V1LX7xzUV8UHYVlfXdbs9HYltmR4e15HRn53uorqKdNB2uF6u8/2Stw/shlE/DgtJL\nGs5+sY3+a1sur+lBzTEKvspwpr7pVAIWVCXCy6TAuWO9qK5k3c9KAzca7wnw3l8LxaL7nRVN2Eev\n5F3f6mNa+Jm9yW37l9f0OBz/yPk+0fvHbl9/UMX7PAr1d3d5/6Vu5vqTayOdft/wjT9Qz5+l/FZF\nM14uboS74JAjyc7OxuzZs5Geno5169bhnXfeASGECcNg+fuxxx5z24T6A0ccSV5NFA4ni3Mk9x0e\nhwCtt1McSde6YsBkBEABCuuZPNA6Er7Ipu+eVWByciTOLL/MO9ZgcCSO5smOgWSMHA9lo+vBEPvL\nkRD/UYCuR3B9xDiSM7EtuBnUIziv+w+mcjhYh9BpoP5zEYwUQffab6GgaGk0pWlD4F/uBwB8vqCD\ny5GE2nN3lKbFjiOpCW/HgXHXmbIwR+IH+ASA0rRgyeFxCNTSIrETcc0MZ0ACRmNUkwbzqxJwJbQT\n5Sm0NecjpePR4d+Hb8zRf5eXp2OLI47kwQ8QsG0NU8fHkSw8Opa5rxYMJDetVxqx1cyRTK6NxJEk\n/hdy1uUwnIjnck7DlSNxqCPZtm0b3njjDWzZsgV6vR6bNm3ibTfYBwnges720loN5seIyIwnegHE\nyHwB5QCAQmkn4x5oHcnnlU1YHKMHYM3xnB5kxJHLbfAXoJcoDQOuI6m+3o616SZOTuq16SY8d7AJ\nXXpibX/hJpQtrq9fdrr1flpEFJac7mwdiSWHeJYlx3qlDjBRSEvnX5/9J2vhVcfNEc5e31OnDOgI\ncKQj6RbVkbDLFnpyzIdIWVkZqL5OWD6d7HUk9IuX0ZEc04LqM9npSGYoRuDAuOsSdCQGwMuqA7H0\nHxlnbU98tVjfHQMlUdD5eHqt9Fed0aO9yx8zEwOhMinQVRwABeWLgDtpRf2R832oH5GNO5JGgPiP\nsruftvMpq+1GtUp6CBx3lytqelDtL64jyQmSdSR2mDVrFoqLi91zVTfDMUcSicPJ5i8GhRdg4k8v\nKYUjIX4hgFEHStdt5Uh4MNA6EkfZ3xKfoHA9pMuuztMcCfHyA6Xnji80z/86pMAbRWOZsjE6C8rr\nJ1yeA1uWLcVqS2lU0BxJwGjAZATVy810aBmjZ8mb8P/ypyCBofg6pcKOIzk5JRptvccAo05AR+I8\nRwKAs98oTSsC//IfAPrPkQCQxIHzcSQkYDSaVJex0XQJqdkKjIt5CVO2fAUAuDz6FkrTrnHWzBa9\n97yCLzoXA6A5kuil5vtt0EL9/gKmHR9HUnQsmeFwLBhIHQlgXTdHHMldJxKxN+sS57e0+tHIrYuw\na2sZb9KlCIkOxe7BgFttDdVDxBkQlTcoHf9BInaaEr+RmD3mG+y7dJeECw1s2AQj4Vd10b9Lm8uS\nw+6NmUbxeF87mqe7xFls+BiVuLcyGSqD9bqmoAiMfflD5JhfzgCwSencdY3R2dA88D5MI6OBY/ap\niYlPICBs/eschnAm7IhbgUC/bSQEzK1VTkYGcPBxOCAQuD0F52IR2sl1YpxzMh5hnQF2bfUpcwHF\necCkd7cv84Bh6Lg3DxQoBSA1xATbm1ehgpdyhHBbD8LyRTSqyw+NwdYvRi9zkqnJ8SF49yxf9rcQ\ndKBV0jUscm9PQmieD+WE0y9fC9z48rT1NDeGpwHeAbRVk8km2yTF/E8UpjBHB691/m6JRcV7Ces1\ngrzHol1L3+dgjS9uhQJKyg9G4uRpRgnMlWdJTCOjodS08NLnbEwvV0K+E6UKlAcPElFrQoHtEtpp\nn2co8hZ/GgZjqHMfcY5yy0up9wSG/UHCfiWFm8ahGdJEJsQrQPjBGiTMOB+DL6ZaHaHurqJT3vJm\nfxsXipwoPxRLPEjcD/vDwFGWOsMQW2sLRvT4cEQrvfP/n4ReAxHHzLq+GaN+grKuBwEAU2oi4T3x\nPsQEzkfxtfusrX1Hig+p9ALx8gdMRsyvjMLeLOE8Q33TfoyAL9bx1oV1+iOnLgIh3cIhVwhFYd6J\nBDSP6EFsqxrO5GpkKFfSHz/3mblp4u0PSids5DCYmFgXLlxJ8f7JC36DlUYAtMGKWL2nMDSfXhZ2\n7tyJJ554AsuWLcO3334r2E7I/Ffd582UC41rkHMtgdc8r6xWwyoTVJ9ScOo55pQ25oa25pruNv99\nq6IZJXVd8NNbQ1ho9wYxAQJL6rrQpSdYkx+Hx2fEIzU6GB3qeOjT78ZIjY8k81+3mxvWdPDW58QE\nIjU6GGOjRmFNfhxyYgJp+mqt+oiS6hseNH+kUFZWhpJLwual1ce0qDaH1Qnt9GfqTSOiYEi+w+5+\n2/Y/faQV1ceNnDqu+W+3dPNfpZcdPWVlZSg7cIgpHz1Yw5j/+hhUaD+Xi6pD1hh41ce0qK4yQt3n\nzbs+9PwomgP39kf1SQrHzuqs9SxzYpVJgZK6LpRWnuPQd/ao9SjYX9eNllIfJhEa3/0oPXoS4Z0B\nyLwWiv113PUQM/8tr9HQCn6FEhN75uBotRYldV3oK3xW8Hr9LVv+FjTXJfzmvqW1GiYCeHWVCc1l\nPrzjA0Dp8fPMfvHX2t9vdvnI5TakB+k55uvpQXp8XtkE/bjZDuvZ47nb/NcpHUl8fDwSExPR2NiI\n9evXQ6lUYsOGDYiIsFceuQuLFi3CokWL0NHRgZ/97GeYO3cub7vHn7eSwma3o9vVeCQymhOV1ZYd\nT81WIF8XAGitZRLgg/GqB3Hj5idIze4FCeD2L+xSw3KrLdY1FhSmhEPZbH0x2rLHzpbZSZ8s1x9/\n1Qe4ItzfGB0BE+ic8FdzOtHlp+PkmoaXCjDoEdLth58ZoxGc4Mvp78p8CxPUdFBIk0FS+7R7H0d+\n8kjgMP1yKkwNh7KhWbC9q+X8/HyoT6oZ0RazH8zvgtRJPsiLeAte//wF2gO01vqT1v4WULDfT+Mn\nh6C9QwUYbcY3oyAxEAbWGLb7h1NW+SBv7R9AlN4wsuqprmaAjpaCqdMnou+SCtDrmXqDSYNvajyW\nfAAAIABJREFUzHreJxd9jaaeUiRt2ca7Him5/oCXVZ6fmuOFfE0AvrKUJ6oAHx9A0wVfvQqFCWpo\npuYCl4ApF6ORMNmEuHnrgYvf8Y7PV+6ZnAV8s5Upd7Fotm1vu34zkgPQbo5awW7fNXY28O0Gt+8X\nvvJV1pz43icF2gBAZy3P1AQy+8t2vILsFExomIubdVUY0xKE+AQuX8Jur6Ss1oYW3BGjxPlepaR6\ny3iMBRfcA8kcydq1a6FS0S/rn/70pzAYDKAoCk888YTTF3U2JwkAvPLKK4yXvRAC+/jl/KmNoxBl\nSRPrhNQh1WcpRneJ51T3NFzx+vYyKZB5NQwAzWlZck1bkHk11C5f9kBj2ornwL0xgx/iPjpwLpKa\ng+0TcEgA2xDSHToSQ9JMGOOnOtnLuobBvhlIDXlSOCq0ly9PxGH7oeJa7PPcLIwYhcxroVBQQyCc\nusL9AhZPRFywAwWM7gvB+PpQ0TxGjg1rxOs9BcmjNzQ0IC4uDnq9Hnv37sUHH3yA999/H+Xl5U5f\n1JmcJIQQrF+/HgsWLHBDpGGJLyiX5fWet73wNoo8uISAeNOH4O7j3fjzBgMunjfh7tXAxWoTPnxF\ngyMlnsxr4eQasAwb+psHxin0Q6FP/AbH2IIXbtUp2T8XklIRuAKFO3KqUyDKoanm9dT60QYr3Hv/\nzllaoS6l3lOQfBeCgoJw48YNnDlzBhkZGVCr1dBqtdDrnbeYKCgosMsBz85JAoDJSfLdd99h3759\n6OzsRE1NDdasWWM/oGRIe3l4KidCz31vwf8fzzrdj23LXng2DldCbyGlQWxjEGhzH4Z31ReYnx2A\n6+PacKHaBIqic03nLwxEWpoGcL8DvtMoKyvDLJbVpyl0LFBfOeDzsMsrYwPdhKWiY/QVrAOwlynz\n+ZG4AyRwNPRpC2AKGCXUov+DK73h558ARnZmhmlEtN34Qn4WjmBIKoAx2oWPQss72ssXxrBJMMSO\ngD5Ngll+P9Af+tLrRzP6THfDkcGKXqTek5BM7dNPP428vDxotVr86U9/AgCUl5c7HRNLCEI5STZu\n3Iinn35atP9HrxsQNRrQqYxMPhJbT9EpMwGAPx9J6VUDFoSbPaErjQBlBGaCqSe+WsyPt5YZz3bw\neCKfb4ayw97TNicqk1OW6onKztcR1xqEuqMUyqGhdSGR41FWccCuv7GzEZPvo0URhy/04ZqWwGAA\n/vkhcLMR8A0wIj2dAgHxjCctpURhvL+k9qdOnYLKqxEW7df+U5c4nuPunh+T7yOetum37If0CTSX\nV31Mi7IbZbC4xVnqyayRTH/Aer/Z+4mExOH03jZ0a4xInQC7esB5z3bB8uyfAwAOFn+G6garZ3tZ\nWRmMpj4gCpz2FnrsPMdtowVX6rA3/gkAe8xl2rM9emIkANrwo/fgUcazvqSuCz1lZYLj25a/Vc8F\nKio47XtY6yHq2V6jwTlvH6ROUQAqb3w7aiHQDOSPk3Z9d5TZnujs+al7fdBdHIAScCMf7L/UjVnx\nQbzjlVadh/L6DcwKkjb/Lj1BanQwp76krgvTzfQL1RcmeC4fieSDZP369Vi8eDFUKhWSkpIA0C/7\njz76yC0ToQQysDmDjAlKjMmzD2nBuoooK+znwKZdQUljx0ngaKDjqqS2UpAd6Xp2tq5bBBm5CqRm\nUfjXDhO6bpk8bN4s/Ys4MzMTOH/Dg3OxgqjDGaWnLZQmBUwKR+I+aTR5KQJBzPuZHbLHU1BQXgNj\nqq603/+Wl9PgwbMiODH6VCbuuvdnNsQ7EAMhDge4H6e3+owiraXDKf7rypUr2Lp1K5qbm7Fr1y50\ndnais7PTLRNxNSfJ6l+NhrqjB90w2okSLIvXB4B4+TP1YbcC0DxCQ1ttYQTQpce0C1HoyeumZfZm\nObrFistHGYw00xzkBh1EeoKw1VbeU7+D/85fADcvMNfvWfJHxupmIKxKjJHhsFjUT0nxg3Gh9VbP\neygYUHmDmIwA1f/r6TIXgwSEYGquDpS2G5rxRVDV7kfe/DHw2/sK4/hZmKCGLnMRcGon73j5+fnw\n9r0MHKRDq8+ckARvwxG3rocF2tyHkO/tD/UJNTO/R9TR6PHR47q2Gx0qLVIn+SA/OR+oovvY7ifb\n+21bv2Tez1B+fRWIrgeUyYjUbK741ymrLQnleXc8gMibNRh5uQ49S9YhPzobBlMPY7XFtK+yXw8A\nSJ3kzVG2W+j/yuxylZqjArx9QPxDoM29E3l3j4NpZAxwyTpeV36+4Ph899t2Ps5ZbfmjPcf63rGz\nmjRz6jBHSvDE8xXtH4vWhl6EdvojNVcBwkoUxzf/mZpA9Cz8A7zO7UEhaDcGY+hYGGMmYtq0H8P/\nyxqgscWl+emdaF+YoIZ+3GxUwD2Q/BmzceNGPPXUUxg7diz276fjBPn6+uKll15yy0Ryc3Nx8eJF\nXL58GTqdDtu2bcPChQsl9//4lW6cqrNYJzkK20yY+rlXC5j2ZTX0xvTXeqH6mM7Ob8RSzjTdg5tl\nPg79SMqOnsR3vtbNXXwrxC1+JE71r7Z+4R8638u1cz9BaHrML4/+2tlrC5+BLvdhFBvGYZ8yB6ZR\nCdDlPYofbqjs2u9TThIc77333sP+E9ZorrZh2oWub0gudH7+3v60HwmrvqncG13FASBmC63qY1qH\nfiLs+00Ryq7+6MHztB+KTyDOneDp74wfiYRyeXk5Oi8UIi7vIxijs1FWVobysgrB9nZ+Grb73ZZ+\nlh+Jbupj+KEBKD14lDMWu/33PPff0fNi21/cj6SHFTaf8I5X3BuH3jkv8I7nDj+S6wdVmFIbBcoy\nv1Mqy3R457//UjeMMRPRN/cFpt4YNxnaGU+irOIASlgcuSvzlVp+q6IZv6p0n6WdZI7kj3/8I/bt\n24eEhAS88cYbAOisidXVzqecXL58OUpKStDa2orY2Fi8/PLLWLVqFZOTxGg0YvXq1U7pX1b/ciQC\nSAB6euy/YNgcCcCqP2Ut5yMI6DLn3s7lxvuxcCS24wlxJPn5+VA2BgNmBqswJQI9Dr64nPUj4dRT\nFD9HEhHG5UhSWHbvk3zs2ven7Ih+9he/2BdrZmYmZvoGOc2R6M2ChH75kdjMDwC+Bv0wC3IkZg5V\njCOZMi0L2uvCfksFCYHQu5Ej4Suz/UjcxZGwx1e0XRbkSO5IDgbVbXV4HQyOpC8n3c7PRGh8V8up\n2QoQPx+gVyNYP1MTyIRfYzh61n7yb9o+4BxJ17rnUVnpHqMWyQdJd3c3RxkOADqdDj4+TgZZA7Bl\nyxbe3xcsWIAFCxbw1nkcCqnSzf7IMl2TfzprNeKGS7oOJ8xr8/PzgWPu0ykNJaTmWB0FLRgYL5mB\nuUq/9uZthOFOn7sgWbRVUFCA119/nfPbxo0bceedd7p9Uv3Bx7/uwJlj9BeBWEYy3hApF61fONXH\ntGZWnljbs1h/MVa9rKwMpYePW9ufb3LIurtWpvjrz1tDItiJthj6aApdnQ8f/bbtHdFfVlaG/Scu\nMGWpoi1X5uuo3hnRFl/9oYoqe9Eoq36/m0VbfGXPiLYoZjyLaMsyHrv9DzXtAyja4h+vtPIsp+zJ\n/US/H3QO6/df6ravp6zrORiiLdv3uSuQzJFs3LgRRUVF+PDDD9Hd3Y1x48ZBrVZj165dbpuMK+AT\nbaVep23suaItwgp5QTBS44vxmTrM048C+jR0yAuW6CelIQSpua2Ij3yU+U2aaGskS7QV7pJoy/Y3\n9t+6zEUobDhp19YYRou2tJNXYsqV/x140VZVIKe9I9EWAMzMSgEO0Lq3aUtWIeDvUkRb/Zt/fn4+\nvP2eBQ58xKm/fgkoHn8V9897EWOD6fkSsEUr9qKtSXXh6Mi+whl/3p3LoL30OwBA9QkKaTaimZmJ\ngdB5XLQlTdmecykCZJKWX7R1ig7RnjrZn2OxxRZtldR12d/f5BAoPCDaUhkVMFEEC6KDWaItSkC0\nlQGD2dze0X4gfiNRmADBegt9bEx59AX47n+bMz/i5w30AtMuRiMsgRsNIzVbgcLuQEbUzIi2WOvB\nFm1Nn38fSGAYYM7C6RHRVuIIdP2n+0RbkjmSqKgoHDlyBNu3b8fnn3+OTz/9FIcPH0ZkZKRbJuJu\nrChLx+RL4nO7tzIJDxxIg0IghMCIXh+sKEtHdpiUqK/Owxid1e++3Y9ugWGsEEdIv/R0eY+ir/AZ\nEJW0MCiGpAIYxkzp95z40PXEN+KNWObfpvBUdP9om1N9nIUuZzlMam5E1uh2NZYfysHYYIGMnzzi\nuqh2NVaUpXN+Uyn8EBkwiy7whR7xtNe4BHQ/Sse5yrg+GotH/5O3DfENAvELZh0iLPrdEOpfn+ac\nGHt+VSKWVaTZmdwKgQSJxwDsy1+L3nkvSp5D96NboZ9wH2/dsoo0hPGEjwcEbrnAGvbNXg/t1MfQ\nvXIzDHF5kufmDHSZi9w6nlPG5wqFAlOmTMEDDzyAadOmQakcAvF1BKCUGFuGAgWl0INtvtFSx7Id\nWQqIr3jYDSE5LVE7CE1t2aQUBfgFS5oLABhHJUpuKxne9sl82LD9ogQAEhjq/nmwQVEg6jC7n/tz\nr/n6KCjaudWW+wOGQiQxcGhXUgK5aCjKcQwuuKZDIDx+KY5AgW+tXT/QiGB0AHv6bPcM++pevGGL\n+nG3FQp6fwZFgPiznl1nk34NICSLtv7nf/4HFEWBEGLnPPjyyy+7fWJDA4OtsXYFt/PcpWKgX8n/\nDmvqCG5ebzc4IbsOMiBZKHljf0qi//bYc5IPkmvXrnEOkMbGRuzfvx9LlizxyMQAoK6uDq+++ipu\n3bqFv//97w7bfvzrDsy+xxcJadYQJpavCYuiaQor5AkAQGGNF0S8jEz4ZUbxaP5QLqljhXAg1pAi\nQiFSysrKoGitgyX6T8n5JmgdhIAQK79V0cwxAba9Pl9/Y3szJpvrjxyoxoWb1hAaFvpSJ/kAlH3/\n/ecaoGwSD1HiiH5/1vqLheh47733MNGnhQmRItbeUp4+1nG9UNky/jyB8W2vz+yXO/jpLanjhswo\nKyvDubZGjE6n15rqsw+RonNHiBQHZbEQKeyQJqUHj6C6U2sNkWIOEQOzZMiyX6JmWsejOhsxn7V2\nnBApNW1Q9ArvH8t8LJnCOc8XT3vL+hex2ldXGpA6Rfh+6CrPYmr6At7xbMulR6rgy/O+KEzgerWz\n52/Z3xY/EuLNVbbbzr+krpt5Hi310yZZ5+9z3hoihY8eACgc68Mt2z0PxGE9u3zscgVaKzSYN8/y\nFLgGyQfJX//6V7vf9uzZg82bN7tlInxISEjARx99hP/4j/8QbWurbC/ssldO97HCVgBg8ksUJqhB\nfNSAtgsUoaziCHPYCSFloLiy/S90+9QoQWU7USj77UfSJdCeVrZHMsq9ydNSobjmBRhoBahDZbtC\niZlpUVD5X+Ov57k+r7L95Eg634dCKerHkJmZiYLAG0DZ99zxRDyl9WaxS3+U7QCAf/zdcb1EP5LC\nBG5+ivz8fHjf+Aeud5/g9jdjZkIg+gZZ2c5WjhdMnYzmVpbfi1nZ/mWNtWw7Pq1sf493PMnK9pJj\n3P4C7Zn1O2atv5LTKkh/YYIafZMyJCqfKRRMzob/dQE/LYH5q6usvzHK9n8Jz19U2X5zB3C9RZAe\nKWW9QiG5/bQJ06Gd+fTAK9v5MHfuXHz11VfiDVnoTy4SqcgN+AkAYLSAwgsAxnTSEUxjWvlluwFa\nWm4b4BULY0QGjJHjocu+39qgH+x4353/JVinm/QQTCFjrG0Ln4EpKJIjD7XdCMbQcdDmPQpbGKOz\n0Xv3b2AaGYM+c0A/Bl5+AKVEkFcyAGCkD60gjuiw6i9MoxLcpoTrWfwHmEbGoGfxH5jfeuf+N0zB\nsdBO5Sqz8/PzoU9fANOoRGinW/Pb6CY+4PAafYXPwBiWCsCci90G2ulraJqy7mPK7oYpOI75m7B0\nQckj6ftz96xVnPZKk0KystgVKClfKChveCmsOUQMsZPM/+batY8Put/ut3B/mgWxGA4kj1zJ1JlG\n0nQL6Uh6il6HSYKymw/avJVMHnN2itrAPm9op66GcXQy6/ngPo/aKT+CMXQs9Ml3AAD6Ztk8BzYw\nJBU4rLfQZxiTB33afOZ3yz4N6KPfF/6qCPQUbbDr721QQGlUiIaV77vjJzAFx6J3/i+5FVLFbiof\n6HIfltbWA5DMkVy6dIlT7unpweeff464uDiBHvxYtWoVnn76aaxcad2Ullwk3333HaKjozF58mQs\nXLjQKc/2osSj8G65huXl6VCahG9agN4fy8rToTJRIEGsm2Q+IFQmBRYmVoKiVAClRM/S/+UO0A95\nKvugsAXxD4ZmxV+gfpt+WA2JM6HPXMxpo7xyGP7fPM+Uex58n3csw5g8GBJnwJA4w75SoQDxD8Yd\nSaUgRA8F5Q0j0cJ3zz0AAN2ExdDOfMZZ0gRhjJoAzcN/484vZQ4MKXMAAD4HPzHPy7wFvQOgWc4N\nAKqd8SS8j28HQB9yitY6pk/XWvrzr+eBd5n2ljUEgK51xQAAXQ6dy1xb4DgpGgMnPxQ0D/0VAEBq\nuJZbIb5ZKEo8CpXCH3UN9B7KvBqKzKviyYvcAYpS4N6EQ6BYwRx7F/1OsP3EsJdxufMLzm/TIt+D\nkfRCpfCHwdQDlYL1gaZQQJ9xD7zO/B/veMYxedCs3IyATQ9DcauB/6ICz5Iu70fQ5f0I6rdnIbYt\nCA9WpEFBKKhMCvTmPgRd7kMAs97cMXSTV0I32fpu0acvgG+xMN1Q+Uh6pnuLuD4Xupxl0OUsg/rt\nWVheno6eR/8OY0AoepZuhP+Op5l29x/OAEwG0XtuCo6D5qFPRechhK4ndwPawQueKfnTKDk5mfPf\n1KlTUVpaik8/dY74goICBAdzrYjYuUi8vLyYXCRtbW148sknUVVVJcqlWDa5yqQQvWleIm2UCl8o\nqAFKmCPhxVV69ITbLqeglFAqfEFRCqgUrkcVdhkUxXEmEwSxP/Q9AjcqXlUKfw5tFKH6aQHYPygV\nPpIjVgOAl4LLXVAUZX2uFPxcPluH4Cl4G5Ue5uKE77kU+lQmheD7QjnA93ywIPltaTJ5LhS2UC6S\nkJAQvP8+/9e3LdauXYsxowLgfaYRI3yVvMrpKXSMP6ZckBXJlNnKdjFlprPKdkHlGY/yjq/9yfO1\n8G0VrreMN3U6//WOHKjGhQ6rMpWvv56qY4wR3KFsFyuz6T116pToeptabuLO0fT1Si51cpSzQspk\nsfk4q2ynZhLB8aqvC6+vpf+EYOfm5+kyW9lO1FcY5bxF2S7Wfw5r/WyV7X0OlOeMst38QSC0HkLG\nFmLrLfa82SvbTwgq2x3Njz1+b8VBzJjjWLlvaxzDVrZLmr8DZXtPWRnyJ2eJ0ltSR+cjMX3/D0QP\nlLJ93759kvKEzJo1S7SNI7gjFwkA5OflYH74sQH5ShpITEhJAir2DeAVB9bk0FZfxouBMhV183Xy\n8/NRVuvWId0PF2i2tWwabhhu9FkOl2NUBFpF2joDhwfJ6tWrJb3k6+rqXJqEq7lIAODdd9+Fovk8\ncEXYaqHPJlqsyfzCZFttAeJWMc5abTm2wqDsrEBs2xfkToB/o3C9ZTytQP3kaalQNHOjt9r212Um\nMP1pq616gflKo1+s7IhevvmZRoUCrXS8osLEII6Vj1jIDcHxnbXa4gmRYinfrBFeX6b/FSfn5+my\nmb78qZNBRsZgl1kNykQ/Fuv//SEuPSyrLY0DKywxqy0xqz2x9XbW6qlgchb8GxxbbTm6X4UJanTP\nmCYabdjWypJttSU8fyLJCqsrP595fw2G1ZbDg8Q2r7qnwM5FEhUVhW3btglGCBbC2rVr8dCCAo5t\nu7hoK4IpD2XR1juff4m8ARVtNQ6oaOu9995DZmamiGir2SrakiAK8YRoCyw/CtvxhEQtZWVlqK4d\n2qKtsoNHQAIvOy/aYvlUcURbte3SRFuW9i6JtihRel0RbbHpExVtzZ7v8Hr9Em2x1tgdoi1LedD8\nSACgqakJhw8fRktLCwhLKfnYYwKxiXjgiVwkgFSOhFs2scrEJxDQ0l+8A8uRiH+hT0hJQmHjYdH5\nuJcjcc2PRKzM0EtRyByfyWnDy5GEhAJt5nwPbuNIvuClT5gjER7v35IjKT7Ipcey/knBA8iRkKHB\nkUyfKsCRUHbPi3MciTQOY0hzJGx89dVXePjhhzF27FicPn0a48ePx+nTp5Gfn+/UQTIkc5EAGKwI\nSESC6LAgdwLwjRQOzV00DKyOxPbB4YVHdCRO0tkPi678fGuCqGEHnqRqww2u0+dozwyFEDHugWS7\ntBdffBGffPIJjh8/jsDAQBw/fhx//vOfkZOTI955ALB27VqUHqJPV8nx+Yk1pEBJbQdTL5bvwXY8\nvvbsfCRS+jsar/ToSYf1YvM5cqCak2+Cr//+U1Y91/5zDdLWzwH9YmVn+pfUdaHkwk1r+VKnaHtn\n5iNGjzUfBhEcz9H68uXHcXa9PFo+eIQ7X5t8JFLWj1OubXdqfcXWg6+/o/UW629bLj1yQnS/i9Jf\ncUjy9axl4f3kzPyt86Mkt3/76wq35iOhCJH2mRUUFITOTjoHQHBwMNra2mAymRAREYGbN2+K9PYs\n9u3bh5ycHCiazyNg+1OC7foKn4VX9b+gbDoHADCpw6HoohNAEZ9AUGbRlsWZjQ9eJ7+E7/6Nou2U\njafhv+MZu3ZspzkA6Hr8K8A3iPm9e9UXIAEhnDYVOz7EXY1WjsT2upa+2ulrGAc8Nq527sSxZjp/\n9ZLks7x9dZmLoS2k5+v3zQtQXTkEMTiiXwzMOqi8sXv8S4JciaWdKSSeDsth7tP15B7hMSXOzf8f\nz0LZcIrzG/H2R/cTu5jxjiQ2ojqatm+5P3CHoCf0l2YHuamRb1tDyIN+KbSoac/6CVfCkHU1TPL8\nPA1mzz38N7Noawr0JvqFY7tP+OBb/HtU/N82WrSyrth6r9Th0DxK71c+h0QL7T4lb8H71E7Ob3zz\n4+trWe/M0b9A8sgfSaKTD13riqG8ehT+X/+Ct77ErDsRul/MGq7+EsRvBJSNZzgOiVAo6VBBrLkz\nz9ykFdBOe9zh3H3/9Sq8LpgtNlU+gEHL265rXTGg7YL6Q2mRKXQTljCirdmzZ4t3EIFkjiQsLAw3\nbtBZvOLj43HgwAHU1tZ61L/E7bAVjwxA1M/bBpyl+XdZl+EjWpAhYzAh+SB5/PHHGXbrJz/5CWbN\nmoWsrCw89ZQwBzAkIXh4DN2XSkHuBM9fZNDODvsMd/zNhu79cQRJtN3GkHUkNKToOu0hoc9t8rEr\nqmw3mUxQKBR4/nlrrKeVK1eisLAQGo0G6enpDnrfTrg9bpgMwLNGBY7GlvfI8MRwua+D97ElypFE\nR0fj5z//ORPGwoIxY8Z4/BDRaDR49NFH8cQTT4iGq++Xsp1drhm6yvZ3Pv/S88r204OnbH/vvffE\n1/t8s7XsUWU7EVWWO6NsLysrG9bKdsvacdazpm3YKNv56ONXth+QfD3PKduJ5PbuVraLciTvv/8+\nNm3ahLy8PKSlpeHRRx/FihUrEBrq4VSoAP7xj3/ggQcewD333INly5ZhxYoVgm2l+5FYPUU5fiTe\nAYCO9lOQ6mk6UH4ktn084kcyPn7QPNtt2wwnP5JTp04hdfrw9SOpauzFs9PDbn/PdlbkCHY9hz4H\n43dNnyZ6veHsRyLKkSxatAhffPEFGhoasGbNGmzfvh3R0dFYuHAhduzYAb1eLzYEB87kI2EHc3RP\nfnjKpjRAEWUdQcJ1O7s0qKzvxgdlV/FR+WV8+punceJwRb/GGoq4deuWeKMBo83Bdfohr5ZE222M\nW31G+x9v033IB176HKCqqop5Tj8ou4rKem6crhOHK5j6jz//O/9z3G8MYdGWBcHBwVizZg3Ky8tx\n7tw5TJo0Cc899xwiIpxLXrNq1Srs2cM13bTkI9mzZw/Onj2LLVu24Ny5c4iJiWFicN1W1mFuxo2m\nJhypacTacb1YM1aLdcFncGLzBjdvQhniGC6ydBsMoxd/v+AmhfaJwxWo+voT5jldO64XRy42oLK+\nm6k/sXmDtT6mUcJzfHvsOacD5et0Ohw9ehSHDx9GU1MTJkxwzqLImXwk9913H3bs2IG1a9di4cKF\n4oMrvR1WE5UviN9Ipmzyt/prkMAwaQR4CWdf5FxLKTEPBGVzCxT2nNeZM2exNp0+SIm5/X8ma1C1\ndyv3ml78+UXC/GlWOdRvqvA8vAOt4/iOsP7tH8LX2mUQH7N4MWA0rl69Kt7ebySnj1vmwNoLluyG\ntj48Y2/QezWpKRhE5Ss4VojvRADAKN9JnN9p2ugXdWLzSNtuQwMKWsKdFfr/AAATRr8oqRvxDcLl\nDp397/7BvH8DtL+W9e/+W3xFBtwJAIgKcEOsKFY2Ulvw0ccLSoGqvVuwNqWX8/NT4xU4crkNAFC1\ndwv+M1ljrVQoeJ9jNoif9Vk0BYwSnYNUuLL2vJeW6pBYWlqKv/3tb/jiiy8wevRorFy5EitXrsSY\nMcLZ/4Rw+fJlFBUVMQr8L774Anv37sWHH34IAPjss89w6NAhbNy4UdJ4O3fuRGBgoHhDGTJkyJDB\noLu7G4sWuZ5eW1TZ/stf/hKfffYZWltb8cADD2DXrl2YMYMnlasLcDUfiTsWQoYMGTJk9A+iB8mh\nQ4fw6quvYtGiRfDz80xqVnfkI5EhQ4YMGYMD0YPEVjHuCbgjH4kMGTJkyBgcDHhW+uXLl2P69Om4\ncOECYmNj8Ze//AUqlYrJR5Keno4HH3zQ6XwkMmTIkCFjkEBuY+zevZukpKSQ5ORk8vrrrw/2dCRj\n1apVJCwsjIwfP575rbW1lcyZM4eMHTuWzJ07l7S3tzN1r732GklOTiYpKSlk7969zO9Hjx4l48eP\nJ8nJyeSZZ54ZUBoc4erVq+SOO+4g6enpJCMjg7z11luEkOFBY29vL8nLyyNZWVkkLS1kXk+fAAAJ\nIklEQVSNPP/884SQ4UEbGwaDgWRnZ5N7772XEDK86BszZgzJzMwk2dnZZPLkyYSQ4UVfe3s7Wbp0\nKUlNTSVpaWnk4MGDHqfvtj1IDAYDSUpKInV1dUSn05GsrCxy9uzZwZ6WJOzfv59UVlZyDpKf//zn\n5Le//S0hhJDXX3+drF+/nhBCyJkzZ0hWVhbR6XSkrq6OJCUlEZPJRAghZPLkyeTQoUOEEEIWLFhA\ndu/ePcCU8KOxsZEcP36cEEJIV1cXGTduHDl79uywoVGj0RBCCNHr9WTKlCmktLR02NBmwR/+8Aey\nYsUKUlRURAgZXvszPj6etLa2cn4bTvStXLmSfPzxx4QQeo92dHR4nL7b9iCpqKggd911F1PesGED\n2bBhwyDOyDnU1dVxDpKUlBRy48YNQgj9Ik5JSSGE0F8LbG7rrrvuIgcOHCANDQ0kNTWV+X3Lli1k\nzZo1AzR757Bo0SLy7bffDjsaNRoNyc3NJadPnx5WtF27do3Mnj2bFBcXMxzJcKIvPj6etLS0cH4b\nLvR1dHSQhIQEu989Td+A60jcBXb4FACIiYnB9evXB3FGrqGpqQnh4eEAgPDwcDQ10Qm3GhoaOBZs\nFjptf4+Ojh6S9F++fBnHjx/HlClThg2NJpMJ2dnZCA8Px5133omMjIxhQxtAp4n43e9+B4XC+noY\nTvRRFIU5c+YgNzeX8V0bLvTV1dUhNDQUq1atQk5ODn784x9Do9F4nL7b9iBx1fdkKIOiqGFBX3d3\nN5YuXYq33noLajXXk/Z2plGhUKCqqgr19fXYv38/vv/+e0797Uzbrl27EBYWhokTJ4II+CrfzvQB\nQHl5OY4fP47du3fjnXfeQWlpKaf+dqbPYDCgsrISa9euRWVlJQICAuyi/HqCvtv2IBluvifh4eFM\nBsrGxkaEhdEhW2zprK+vR0xMDKKjo1FfX8/5PTo6emAn7QB6vR5Lly7FI488gsWLFwMYfjSOGDEC\n99xzD44dOzZsaKuoqMDXX3+NhIQELF++HMXFxXjkkUeGDX0AEBkZCQAIDQ3FkiVLcPjw4WFDX0xM\nDGJiYjB58mQAwP3334/KykpERER4lL7b9iBh+57odDps27ZNWjyuIYqFCxfi008/BQB8+umnzMt3\n4cKF2Lp1K3Q6Herq6nDx4kXk5eUhIiICQUFBOHToEAgh2LRpE9NnsEEIwerVq5Geno7nnnuO+X04\n0NjS0oKODjp3TW9vL7799ltMnDhxWNAGAK+99hquXbuGuro6bN26FbNmzcKmTZuGDX09PT3o6qIj\n8mo0GvzrX/9CZmbmsKEvIiICsbGxuHDhAgDgu+++Q0ZGBoqKijxLn6vKncHEP//5TzJu3DiSlJRE\nXnvttcGejmQsW7aMREZGEi8vLxITE0M++eQT0traSmbPns1rnvfqq6+SpKQkkpKSQvbs2cP8bjHP\nS0pKIk8//fRgkMKL0tJSQlEUycrKItnZ2SQ7O5vs3r17WNB48uRJMnHiRJKVlUUyMzPJG2+8QQgh\nw4I2W/zwww+M1dZwoe/SpUskKyuLZGVlkYyMDOa9MVzoI4SQqqoqkpubSyZMmECWLFlCOjo6PE6f\n5KCNMmTIkCFDBh9uW9GWDBkyZMgYGpAPEhkyZMiQ4RLkg0SGDBkyZLgE+SCRIUOGDBkuQT5IZMiQ\nIUOGS5APEhkyZMiQ4RLkg0SGDBkyZLgE+SCRIUOGDBkuQT5IZPxbYvz48di/fz9Tjo+Px759+wZx\nRjJk3L6QDxIZwxrx8fHw9/eHWq2GWq1GUFAQbty4gdOnT2PmzJlMO3ZE1Pj4eBQXF3tsPp4aW4aM\nwYJ8kMgY1qAoCrt27UJXVxe6urrQ2dmJiIgI0T79jRxkMBg8NrYUnD9/Hvn5+di0aZPHriFDhi3k\ng0TGvyX4RFmEEDzyyCO4evUqioqKoFar8fvf/x4AnQBo6dKlCAsLQ2JiIjZu3MgZ64033sCECROg\nVqthNBrx29/+FjExMQgKCkJqaioTjr0/Y7/++uvIyMhASEgIHnvsMWi1WkG6UlJS4OXlhXnz5rlz\nuWTIcAxPRJ+UIWOoID4+nnz33Xe8v+/bt4+3bFtnNBpJTk4O+c1vfkP0ej25dOkSSUxMJHv37iWE\nEDJmzBgyceJEUl9fT/r6+kh1dTWJjY0ljY2NhBBCrly5Qmpra/s9dmZmJqmvrydtbW1kxowZ5KWX\nXhKk15L+V4aMgYTMkcgY1iCEYPHixQgODkZwcDDuu+8+p8c4cuQIWlpa8NJLL0GlUiEhIQGPP/44\ntm7dCoAWVz3zzDOIjo6Gj48PlEoltFotzpw5A71ej7i4OCQmJvZ77HXr1iE6OhrBwcF48cUXsWXL\nFsG5lpWVYebMmaipqcGOHTsQFxfnUVGaDBkAoBrsCciQ4UlQFIWdO3di1qxZ/R7jypUraGhoQHBw\nMPOb0WjkKOtjY2OZv5OTk/GnP/0Jv/rVr3DmzBncddddePPNN5nMfK6MHRcXh4aGBsG5FhcXo6ur\nC1qtFkuXLsXdd99926aNlXH7QOZIZMiwge2LNy4uDgkJCWhvb2f+6+zsxK5duwT7LF++HKWlpbhy\n5QooisL69ev7PfbVq1c5f0dFRQnOvaSkBGlpaXjqqadQX18PPz8/5xdAhgwnIR8kMmTYIDw8HLW1\ntUw5Ly8ParUab7zxBnp7e2E0GnH69GkcPXqUt/+FCxdQXFwMrVYLHx8f+Pr6QqlU9mtsQgjeffdd\nXL9+HW1tbXj11VexbNky3uveunULRqMRP/nJT5CVlYXa2lps3rzZXcsiQ4Yg5INEhgwbvPDCC3jl\nlVcQHByMN998EwqFArt27UJVVRUSExMRGhqKJ554Ap2dnbz9tVotXnjhBYSGhiIyMhItLS3YsGFD\nv8amKAorVqzAvHnzkJSUhLFjx+Kll17ive7x48dx7733AgCmTJmCEydOID4+3v0LJEOGDeRUuzJk\nDGEkJCTg448/dknHI0OGpyFzJDJkyJAhwyXIB4kMGTJkyHAJsmhLhgwZMmS4BJkjkSFDhgwZLkE+\nSGTIkCFDhkuQDxIZMmTIkOES5INEhgwZMmS4BPkgkSFDhgwZLkE+SGTIkCFDhkuQDxIZMmTIkOES\n/j9UkwuseCJ3dQAAAABJRU5ErkJggg==\n", "text": [ "" ] } ], "prompt_number": 431 }, { "cell_type": "heading", "level": 2, "metadata": {}, "source": [ "Measurement Function $h$" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Matrix H is the Jacobian of the Measurement function h with respect to the state." ] }, { "cell_type": "heading", "level": 4, "metadata": {}, "source": [ "If GPS Measurement is available" ] }, { "cell_type": "code", "collapsed": false, "input": [ "hs = Matrix([[xs],[ys],[vs],[psis],[phis],[thetas]])\n", "Hs=hs.jacobian(state)\n", "Hs" ], "language": "python", "metadata": {}, "outputs": [ { "latex": [ "$$\\left[\\begin{matrix}1 & 0 & 0 & 0 & 0 & 0\\\\0 & 1 & 0 & 0 & 0 & 0\\\\0 & 0 & 1 & 0 & 0 & 0\\\\0 & 0 & 0 & 1 & 0 & 0\\\\0 & 0 & 0 & 0 & 1 & 0\\\\0 & 0 & 0 & 0 & 0 & 1\\end{matrix}\\right]$$" ], "metadata": {}, "output_type": "pyout", "prompt_number": 432, "text": [ "\u23a11 0 0 0 0 0\u23a4\n", "\u23a2 \u23a5\n", "\u23a20 1 0 0 0 0\u23a5\n", "\u23a2 \u23a5\n", "\u23a20 0 1 0 0 0\u23a5\n", "\u23a2 \u23a5\n", "\u23a20 0 0 1 0 0\u23a5\n", "\u23a2 \u23a5\n", "\u23a20 0 0 0 1 0\u23a5\n", "\u23a2 \u23a5\n", "\u23a30 0 0 0 0 1\u23a6" ] } ], "prompt_number": 432 }, { "cell_type": "markdown", "metadata": {}, "source": [ "Else set the elements to zero." ] }, { "cell_type": "heading", "level": 3, "metadata": {}, "source": [ "Identity Matrix" ] }, { "cell_type": "code", "collapsed": false, "input": [ "I = np.eye(numstates)\n", "print(I, I.shape)" ], "language": "python", "metadata": {}, "outputs": [ { "output_type": "stream", "stream": "stdout", "text": [ "(array([[ 1., 0., 0., 0., 0., 0.],\n", " [ 0., 1., 0., 0., 0., 0.],\n", " [ 0., 0., 1., 0., 0., 0.],\n", " [ 0., 0., 0., 1., 0., 0.],\n", " [ 0., 0., 0., 0., 1., 0.],\n", " [ 0., 0., 0., 0., 0., 1.]]), (6, 6))\n" ] } ], "prompt_number": 433 }, { "cell_type": "heading", "level": 2, "metadata": {}, "source": [ "Initial State" ] }, { "cell_type": "code", "collapsed": false, "input": [ "state" ], "language": "python", "metadata": {}, "outputs": [ { "latex": [ "$$\\left[\\begin{matrix}x\\\\y\\\\v\\\\\\psi\\\\\\phi\\\\\\Theta\\end{matrix}\\right]$$" ], "metadata": {}, "output_type": "pyout", "prompt_number": 434, "text": [ "\u23a1 x \u23a4\n", "\u23a2 \u23a5\n", "\u23a2 y \u23a5\n", "\u23a2 \u23a5\n", "\u23a2 v \u23a5\n", "\u23a2 \u23a5\n", "\u23a2 \\psi \u23a5\n", "\u23a2 \u23a5\n", "\u23a2 \\phi \u23a5\n", "\u23a2 \u23a5\n", "\u23a3\\Theta\u23a6" ] } ], "prompt_number": 434 }, { "cell_type": "code", "collapsed": false, "input": [ "x = np.matrix([[mx[0], my[0], speed[0]/3.6, course[0]/180.0*np.pi+0.05, 0.0, 0.0]]).T\n", "print(x, x.shape)\n", "\n", "U=float(np.cos(x[3])*x[2])\n", "V=float(np.sin(x[3])*x[2])\n", "\n", "plt.quiver(x[0], x[1], U, V)\n", "plt.scatter(float(x[0]), float(x[1]), s=100)\n", "plt.title('Initial Location')\n", "plt.axis('equal')" ], "language": "python", "metadata": {}, "outputs": [ { "output_type": "stream", "stream": "stdout", "text": [ "(matrix([[ 0. ],\n", " [ 0. ],\n", " [ 9.46111111],\n", " [-3.45689007],\n", " [ 0. ],\n", " [ 0. ]]), (6, 1))\n" ] }, { "latex": [ "$$\\begin{pmatrix}-0.00015, & 0.00015, & -0.0003, & 0.0003\\end{pmatrix}$$" ], "metadata": {}, "output_type": "pyout", "prompt_number": 435, "text": [ "(-0.00015, 0.00015, -0.0003, 0.0003)" ] }, { "metadata": {}, "output_type": "display_data", "png": 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"text": [ "" ] } ], "prompt_number": 435 }, { "cell_type": "heading", "level": 2, "metadata": {}, "source": [ "Initial Uncertainty" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Initialized with $0$ means you are pretty sure where the vehicle starts and in which direction it is heading. Initialized with high values means, that you trust the measurements first, to align the state vector $x$ with them." ] }, { "cell_type": "code", "collapsed": false, "input": [ "P = 1e5*np.eye(numstates)\n", "print(P.shape)\n", "\n", "fig = plt.figure(figsize=(numstates, numstates))\n", "im = plt.imshow(P, interpolation=\"none\", cmap=plt.get_cmap('binary'))\n", "plt.title('Covariance Matrix $P$')\n", "ylocs, ylabels = plt.yticks()\n", "# set the locations of the yticks\n", "plt.yticks(np.arange(7))\n", "# set the locations and labels of the yticks\n", "plt.yticks(np.arange(6), \\\n", " ('$x$', '$y$', '$v$', '$\\psi$', '$\\phi$', '$\\Theta$'),\\\n", " fontsize=22)\n", "\n", "xlocs, xlabels = plt.xticks()\n", "# set the locations of the yticks\n", "plt.xticks(np.arange(7))\n", "# set the locations and labels of the yticks\n", "plt.xticks(np.arange(6), \\\n", " ('$x$', '$y$', '$v$', '$\\psi$', '$\\phi$', '$\\Theta$'),\\\n", " fontsize=22)\n", "\n", "plt.xlim([-0.5,5.5])\n", "plt.ylim([5.5, -0.5])\n", "\n", "from mpl_toolkits.axes_grid1 import make_axes_locatable\n", "divider = make_axes_locatable(plt.gca())\n", "cax = divider.append_axes(\"right\", \"5%\", pad=\"3%\")\n", "plt.colorbar(im, cax=cax)\n", "\n", "plt.tight_layout()" ], "language": "python", "metadata": {}, "outputs": [ { "output_type": "stream", "stream": "stdout", "text": [ "(6, 6)\n" ] }, { "metadata": {}, "output_type": "display_data", "png": 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grkVK+eE+mZMyFhVzqZgJJJezueuclPSkhBDCAIxebGylfE9K1R3rquPm9lIxl4qZQHIJ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\n7i+jsqtIrVq1ylHtEEIIcQWO7EmVlJQ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"text": [ "" ] } ], "prompt_number": 436 }, { "cell_type": "heading", "level": 2, "metadata": {}, "source": [ "Put everything together as a measurement vector" ] }, { "cell_type": "code", "collapsed": false, "input": [ "state" ], "language": "python", "metadata": {}, "outputs": [ { "latex": [ "$$\\left[\\begin{matrix}x\\\\y\\\\v\\\\\\psi\\\\\\phi\\\\\\Theta\\end{matrix}\\right]$$" ], "metadata": {}, "output_type": "pyout", "prompt_number": 437, "text": [ "\u23a1 x \u23a4\n", "\u23a2 \u23a5\n", "\u23a2 y \u23a5\n", "\u23a2 \u23a5\n", "\u23a2 v \u23a5\n", "\u23a2 \u23a5\n", "\u23a2 \\psi \u23a5\n", "\u23a2 \u23a5\n", "\u23a2 \\phi \u23a5\n", "\u23a2 \u23a5\n", "\u23a3\\Theta\u23a6" ] } ], "prompt_number": 437 }, { "cell_type": "code", "collapsed": false, "input": [ "measurements = np.vstack((mx, my, \\\n", " speed/3.6, \\\n", " (((course+180.0)%360.0-180.0))/180.0*np.pi, \\\n", " pitch/180.0*np.pi, \\\n", " roll/180.0*np.pi))\n", "# Lenth of the measurement\n", "m = measurements.shape[1]\n", "print(measurements.shape)" ], "language": "python", "metadata": {}, "outputs": [ { "output_type": "stream", "stream": "stdout", "text": [ "(6, 6014)\n" ] } ], "prompt_number": 438 }, { "cell_type": "code", "collapsed": false, "input": [ "# Preallocation for Plotting\n", "x0 = []\n", "x1 = []\n", "x2 = []\n", "x3 = []\n", "x4 = []\n", "x5 = []\n", "x6 = []\n", "x7 = []\n", "x8 = []\n", "Zx = []\n", "Zy = []\n", "P0 = []\n", "P1 = []\n", "P2 = []\n", "P3 = []\n", "P4 = []\n", "P5 = []\n", "P6 = []\n", "P7 = []\n", "P8 = []\n", "K0 = []\n", "K1 = []\n", "K2 = []\n", "K3 = []\n", "K4 = []\n", "K5 = []\n", "dstate=[]" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 439 }, { "cell_type": "code", "collapsed": false, "input": [ "starttime = time.time()" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 440 }, { "cell_type": "heading", "level": 1, "metadata": {}, "source": [ "Extended Kalman Filter Step" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "$$x_k= \\left[ \\begin{matrix} x\\\\y\\\\ v \\\\ \\psi\\\\\\phi\\\\\\Theta \\end{matrix}\\right] = \\left[ \\begin{matrix} \\text{Position x} \\\\ \\text{Position y} \\\\ \\text{Speed} \\\\ \\text{Heading} \\\\ \\text{Pitch} \\\\ \\text{Roll} \\end{matrix}\\right] = \\underbrace{\\begin{matrix}x[0] \\\\ x[1] \\\\ x[2] \\\\ x[3] \\\\ x[4] \\\\ x[5] \\end{matrix}}_{\\textrm{Python Nomenclature}}$$" ] }, { "cell_type": "code", "collapsed": false, "input": [ "for filterstep in range(m):\n", "\n", " axc = -ax[filterstep]\n", " yawc = yawrate[filterstep]/180.0*np.pi\n", " pitc = pitchrate[filterstep]/180.0*np.pi\n", " rolc = rollrate[filterstep]/180.0*np.pi\n", " \n", " # Time Update (Prediction)\n", " # ========================\n", " # Project the state ahead\n", " # see \"Dynamic Matrix\"\n", " if yawc==0.0: # Driving straight\n", " x[0] = x[0] + x[2]*dt * np.cos(x[3])\n", " x[1] = x[1] + x[2]*dt * np.sin(x[3])\n", " x[2] = x[2] + axc*dt\n", " x[3] = x[3]\n", " x[4] = x[4] + pitc*dt\n", " x[5] = x[5] + rolc*dt\n", " yawc = 0.00000001 # to avoid numerical issues in Jacobians\n", " dstate.append(0)\n", " else: # otherwise\n", " x[0] = x[0] + (x[2]/yawc) * (np.sin(yawc*dt+x[3]) - np.sin(x[3]))\n", " x[1] = x[1] + (x[2]/yawc) * (-np.cos(yawc*dt+x[3])+ np.cos(x[3]))\n", " x[2] = x[2] + axc*dt\n", " x[3] = (x[3] + yawc*dt + np.pi) % (2.0*np.pi) - np.pi\n", " x[4] = x[4] + pitc*dt\n", " x[5] = x[5] + rolc*dt\n", " dstate.append(1)\n", " \n", " # Calculate the Jacobian of the Dynamic Matrix A\n", " # see \"Calculate the Jacobian of the Dynamic Matrix with respect to the state vector\"\n", " a13 = float((1.0/yawc) * (np.sin(yawc*dt+x[3]) - np.sin(x[3])))\n", " a14 = float((x[2]/yawc)* (np.cos(yawc*dt+x[3]) - np.cos(x[3])))\n", " a23 = float((1.0/yawc) * (-np.cos(yawc*dt+x[3]) + np.cos(x[3])))\n", " a24 = float(x[2]/yawc) * (np.sin(yawc*dt+x[3]) - np.sin(x[3]))\n", " JA = np.matrix([[1.0, 0.0, a13, a14, 0.0, 0.0],\n", " [0.0, 1.0, a23, a24, 0.0, 0.0],\n", " [0.0, 0.0, 1.0, 0.0, 0.0, 0.0],\n", " [0.0, 0.0, 0.0, 1.0, 0.0, 0.0],\n", " [0.0, 0.0, 0.0, 0.0, 1.0, 0.0],\n", " [0.0, 0.0, 0.0, 0.0, 0.0, 1.0]])\n", " \n", " # Calculate the Jacobian of the Control Input G\n", " # see \"Calculate the Jacobian of the Dynamic Matrix with Respect to the Control\"\n", " g12 = float((dt*x[2]/yawc)*np.cos(yawc*dt+x[3]) - x[2]/yawc**2*(np.sin(yawc*dt+x[3])-np.sin(x[3])))\n", " g22 = float((dt*x[2]/yawc)*np.sin(yawc*dt+x[3]) - x[2]/yawc**2*(-np.cos(yawc*dt+x[3])+np.cos(x[3])))\n", " JG = np.matrix([[0.0, g12, 0.0, 0.0],\n", " [0.0, g22, 0.0, 0.0],\n", " [dt, 0.0, 0.0, 0.0],\n", " [0.0, dt, 0.0, 0.0],\n", " [0.0, 0.0, dt, 0.0],\n", " [0.0, 0.0, 0.0, dt]])\n", " \n", " # Project the error covariance ahead\n", " P = JA*P*JA.T + JG*Q*JG.T\n", " \n", " \n", " # Measurement Update (Correction)\n", " # ===============================\n", " hx = np.matrix([[float(x[0])],\n", " [float(x[1])],\n", " [float(x[2])], \n", " [float(x[3])],\n", " [float(x[4])],\n", " [float(x[5])]])\n", " # Because GPS is sampled with 10Hz and the other Measurements, as well as\n", " # the filter are sampled with 50Hz, one have to wait for correction until\n", " # there is a new GPS Measurement\n", " if GPS[filterstep]:\n", " # Calculate the Jacobian of the Measurement Function\n", " # see \"Measurement Matrix H\"\n", " JH = np.matrix([[1.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n", " [0.0, 1.0, 0.0, 0.0, 0.0, 0.0],\n", " [0.0, 0.0, 1.0, 0.0, 0.0, 0.0],\n", " [0.0, 0.0, 0.0, 1.0, 0.0, 0.0],\n", " [0.0, 0.0, 0.0, 0.0, 1.0, 0.0],\n", " [0.0, 0.0, 0.0, 0.0, 0.0, 1.0]])\n", " else:\n", " # Calculate the Jacobian of the Measurement Function\n", " # see \"Measurement Matrix H\"\n", " JH = np.matrix([[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n", " [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n", " [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n", " [0.0, 0.0, 0.0, 1.0, 0.0, 0.0],\n", " [0.0, 0.0, 0.0, 0.0, 1.0, 0.0],\n", " [0.0, 0.0, 0.0, 0.0, 0.0, 1.0]])\n", " \n", " # Adaptive R\n", " R[0,0] = sp[filterstep] # x\n", " R[1,1] = sp[filterstep] # y\n", " R[2,2] = spspeed[filterstep] # v\n", " R[3,3] = spspeed[filterstep] # course\n", " R[4,4] = spitch[filterstep] # pitch\n", " R[5,5] = sroll[filterstep] # roll\n", " \n", "\n", " S = JH*P*JH.T + R\n", " K = (P*JH.T) * np.linalg.inv(S)\n", "\n", " # Update the estimate via\n", " z = measurements[:,filterstep].reshape(JH.shape[0],1)\n", " y = z - (hx) # Innovation or Residual\n", " x = x + (K*y)\n", " \n", " # Update the error covariance\n", " P = (I - (K*JH))*P\n", " \n", "\n", " # Save states for Plotting\n", " x0.append(float(x[0]))\n", " x1.append(float(x[1]))\n", " x2.append(float(x[2]))\n", " x3.append(float(x[3]))\n", " x4.append(float(x[4]))\n", " x5.append(float(x[5]))\n", "\n", " P0.append(float(P[0,0]))\n", " P1.append(float(P[1,1]))\n", " P2.append(float(P[2,2]))\n", " P3.append(float(P[3,3]))\n", " P4.append(float(P[4,4]))\n", " P5.append(float(P[5,5]))\n", " \n", " #Zx.append(float(z[0]))\n", " #Zy.append(float(z[1])) \n", " \n", " K0.append(float(K[0,0]))\n", " K1.append(float(K[1,0]))\n", " K2.append(float(K[2,0]))\n", " K3.append(float(K[3,0]))\n", " K4.append(float(K[4,0]))" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 441 }, { "cell_type": "code", "collapsed": false, "input": [], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 441 }, { "cell_type": "code", "collapsed": false, "input": [ "print('One Filterstep took %.4fs (average) on MacBook Pro 2.5GHz Intel i5' % ((time.time() - starttime)/m))" ], "language": "python", "metadata": {}, "outputs": [ { "output_type": "stream", "stream": "stdout", "text": [ "One Filterstep took 0.0017s (average) on MacBook Pro 2.5GHz Intel i5\n" ] } ], "prompt_number": 442 }, { "cell_type": "code", "collapsed": false, "input": [], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 442 }, { "cell_type": "heading", "level": 1, "metadata": {}, "source": [ "Plots" ] }, { "cell_type": "code", "collapsed": false, "input": [ "%pylab inline --no-import-all" ], "language": "python", "metadata": {}, "outputs": [ { "output_type": "stream", "stream": "stdout", "text": [ "Populating the interactive namespace from numpy and matplotlib\n" ] } ], "prompt_number": 443 }, { "cell_type": "heading", "level": 2, "metadata": {}, "source": [ "Uncertainties of Matrix $P$" ] }, { "cell_type": "code", "collapsed": false, "input": [ "fig = plt.figure(figsize=(16,9))\n", "plt.semilogy(range(m),P0, label='$x$')\n", "plt.step(range(m),P1, label='$y$')\n", "plt.step(range(m),P2, label='$v$')\n", "plt.step(range(m),P3, label='$\\psi$')\n", "plt.step(range(m),P4, label='$\\phi$')\n", "plt.step(range(m),P5, label='$\\Theta$')\n", "\n", "plt.xlabel('Filter Step [k]')\n", "plt.ylabel('')\n", "plt.xlim(0,6000)\n", "plt.title('Uncertainty (Elements from Matrix $P$)')\n", "#plt.legend(loc='best',prop={'size':22})\n", "plt.legend(bbox_to_anchor=(0., 0.91, 1., .06), loc=3,\n", " ncol=9, mode=\"expand\", borderaxespad=0.,prop={'size':22})\n", "plt.savefig('Covariance-Matrix-Verlauf.eps', bbox_inches='tight')" ], "language": "python", "metadata": {}, "outputs": [ { "metadata": {}, "output_type": "display_data", "png": 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x6NChOsyOSFoLFy7E1KlT2bwSEdVAjc/ATpgwAVu3bkVAQAASEhKsy6OiojB9+nSYzWZM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\nSYn1RHJmdw0sAJQ8swHPbPw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vyKVQln4NATq1gMOu23Aeu6R7nX9r5/siWnn/G+7OTSQf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\niIh6BSawRERERERE1Cv8HwPGG+Il6a8fAAAAAElFTkSuQmCC\n", "text": [ "" ] } ], "prompt_number": 444 }, { "cell_type": "code", "collapsed": false, "input": [ "fig = plt.figure(figsize=(numstates, numstates))\n", "im = plt.imshow(P, interpolation=\"none\", cmap=plt.get_cmap('binary'))\n", "plt.title('Covariance Matrix $P$')\n", "ylocs, ylabels = plt.yticks()\n", "# set the locations of the yticks\n", "plt.yticks(np.arange(7))\n", "# set the locations and labels of the yticks\n", "plt.yticks(np.arange(6), \\\n", " ('$x$', '$y$', '$v$', '$\\psi$', '$\\phi$', '$\\Theta$'),\\\n", " fontsize=22)\n", "\n", "xlocs, xlabels = plt.xticks()\n", "# set the locations of the yticks\n", "plt.xticks(np.arange(7))\n", "# set the locations and labels of the yticks\n", "plt.xticks(np.arange(6), \\\n", " ('$x$', '$y$', '$v$', '$\\psi$', '$\\phi$', '$\\Theta$'),\\\n", " fontsize=22)\n", "\n", "plt.xlim([-0.5,5.5])\n", "plt.ylim([5.5, -0.5])\n", "\n", "from mpl_toolkits.axes_grid1 import make_axes_locatable\n", "divider = make_axes_locatable(plt.gca())\n", "cax = divider.append_axes(\"right\", \"5%\", pad=\"3%\")\n", "plt.colorbar(im, cax=cax)\n", "\n", "plt.tight_layout()" ], "language": "python", "metadata": {}, "outputs": [ { "metadata": {}, "output_type": "display_data", "png": 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F1dXVCA0NRevWrWEymRAcHIzBgwcrFmxDsSelD+xJiY85qstQPam2bduiX79+8nJOTg4A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\naWlp4wWpF2pXSVv49NNPzZY3bdqky2/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"text": [ "" ] } ], "prompt_number": 445 }, { "cell_type": "heading", "level": 2, "metadata": {}, "source": [ "Kalman Gains in $K$" ] }, { "cell_type": "code", "collapsed": false, "input": [ "fig = plt.figure(figsize=(16,9))\n", "plt.step(range(len(measurements[0])),K0, label='$x$')\n", "plt.step(range(len(measurements[0])),K1, label='$y$')\n", "plt.step(range(len(measurements[0])),K2, label='$\\psi$')\n", "plt.step(range(len(measurements[0])),K3, label='$v$')\n", "plt.step(range(len(measurements[0])),K4, label='$\\dot \\psi$')\n", "\n", "plt.xlabel('Filter Step [k]')\n", "plt.ylabel('')\n", "plt.xlim(0,6000)\n", "plt.title('Kalman Gain (the lower, the more the measurement fullfill the prediction)')\n", "#plt.legend(prop={'size':18})\n", "plt.legend(bbox_to_anchor=(0., 0., 1., .102), loc=3,\n", " ncol=5, mode=\"expand\", borderaxespad=0.,prop={'size':22})\n", "plt.ylim([-0.4,0.4])" ], "language": "python", "metadata": {}, "outputs": [ { "latex": [ "$$\\begin{pmatrix}-0.4, & 0.4\\end{pmatrix}$$" ], "metadata": {}, "output_type": "pyout", "prompt_number": 446, "text": [ "(-0.4, 0.4)" ] }, { "metadata": {}, "output_type": "display_data", "png": 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2MgXbyBQiFUUsAAAAACBqUMQiZtGPAzaRJ9hGpmAbmYJtZAqRiiIW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\n6wz4Jra+roL626JFi/Too48qJiZGktSkSRN5PB5169ZNLVu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"text": [ "" ] } ], "prompt_number": 446 }, { "cell_type": "heading", "level": 2, "metadata": {}, "source": [ "State Vector" ] }, { "cell_type": "code", "collapsed": false, "input": [ "state" ], "language": "python", "metadata": {}, "outputs": [ { "latex": [ "$$\\left[\\begin{matrix}x\\\\y\\\\v\\\\\\psi\\\\\\phi\\\\\\Theta\\end{matrix}\\right]$$" ], "metadata": {}, "output_type": "pyout", "prompt_number": 447, "text": [ "\u23a1 x \u23a4\n", "\u23a2 \u23a5\n", "\u23a2 y \u23a5\n", "\u23a2 \u23a5\n", "\u23a2 v \u23a5\n", "\u23a2 \u23a5\n", "\u23a2 \\psi \u23a5\n", "\u23a2 \u23a5\n", "\u23a2 \\phi \u23a5\n", "\u23a2 \u23a5\n", "\u23a3\\Theta\u23a6" ] } ], "prompt_number": 447 }, { "cell_type": "code", "collapsed": false, "input": [ "fig = plt.figure(figsize=(8,numstates+2))\n", "\n", "# Speed\n", "plt.subplot(411)\n", "plt.step(range(len(measurements[0])),np.multiply(x2,3.6), label='$v$', marker='*', markevery=140)\n", "plt.step(range(len(measurements[0])),speed, label='$v$ (GNSS)', marker='o', markevery=150, alpha=0.6)\n", "plt.ylabel('Speed $km/h$')\n", "plt.xlim(0,6000)\n", "#plt.yticks(np.arange(-180, 181, 45))\n", "plt.ylim([0,60])\n", "plt.legend(bbox_to_anchor=(0.25, 0.75, 0.35, .06), loc=3,\n", " ncol=2, mode=\"expand\", borderaxespad=0.)\n", "\n", "# Course\n", "plt.subplot(412)\n", "plt.step(range(len(measurements[0])),np.multiply(x3,180.0/np.pi), label='$\\psi$', marker='*', markevery=140)\n", "plt.step(range(len(measurements[0])),(course+180.0)%(360.0)-180.0, label='$\\psi$ (GNSS)', marker='o', markevery=150, alpha=0.6)\n", "plt.ylabel('Course $^\\circ$')\n", "plt.yticks(np.arange(-180, 181, 45))\n", "plt.ylim([-200,200])\n", "plt.xlim(0,6000)\n", "plt.legend(bbox_to_anchor=(0.65, 0.0, 0.35, .06), loc=3,\n", " ncol=2, mode=\"expand\", borderaxespad=0.)\n", "#plt.title('State Estimates $x_k$')\n", "\n", "# Pitch\n", "plt.subplot(413)\n", "plt.step(range(len(measurements[0])),np.multiply(x4,180.0/np.pi), label='$\\phi$', marker='*', markevery=140)\n", "plt.ylabel('Pitch $^\\circ$')\n", "plt.ylim([-10.0, 10.0])\n", "plt.xlim(0,6000)\n", "plt.legend(loc='best',prop={'size':12})\n", "\n", "# Roll\n", "plt.subplot(414)\n", "plt.step(range(len(measurements[0])),np.multiply(x5,180.0/np.pi), label='$\\Theta$', marker='*', markevery=140)\n", "plt.ylabel('Roll $^\\circ$')\n", "plt.ylim([-10.0, 10.0])\n", "plt.xlim(0,6000)\n", "plt.legend(loc='best',prop={'size':12})\n", "\n", "plt.xlabel('Filter Step $k$')\n", "\n", "plt.savefig('Extended-Kalman-Filter-CTRV-Attitude-State-Estimates.eps', bbox_inches='tight')" ], "language": "python", "metadata": {}, "outputs": [ { "metadata": {}, "output_type": "display_data", "png": 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qyirwqC5DXWPAxupa7LVlDnT5MZkO2ZDWHlLvG4/B3pMvv30CL/txKBTWUoiThEQroEZX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\nAJwP/Yr7WzUo99NowDKvQ9shE/jPujMlagr/vMhzBWHRokV8+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"text": [ "" ] } ], "prompt_number": 448 }, { "cell_type": "code", "collapsed": false, "input": [ "#%pylab --no-import-all" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 449 }, { "cell_type": "code", "collapsed": false, "input": [], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 449 }, { "cell_type": "heading", "level": 3, "metadata": {}, "source": [ "Convert back from Meters to Lat/Lon (WGS84)" ] }, { "cell_type": "code", "collapsed": false, "input": [ "latekf = latitude[0] + np.divide(x1,arc)\n", "lonekf = longitude[0]+ np.divide(x0,np.multiply(arc,np.cos(latitude*np.pi/180.0)))" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 450 }, { "cell_type": "heading", "level": 2, "metadata": {}, "source": [ "Position Lat/Lon" ] }, { "cell_type": "code", "collapsed": false, "input": [ "whratio = np.cos(np.mean(latitude*np.pi/180.0))\n", "fh = 4.0\n", "fig = plt.figure(figsize=(fh/whratio, fh))\n", "\n", "# EKF State\n", "plt.plot(lonekf,latekf, label='EKF Position Estimation', color='k', linewidth=5)\n", "\n", "# Ground Truth\n", "plt.plot(LonDD,LatDD, label='Ground Truth')\n", "\n", "# Low Cost GPS Measurements\n", "plt.scatter(longitude[::50],latitude[::50], s=100, label='GNSS Measurements',\\\n", " c=sp[::50], cmap='winter', norm=matplotlib.colors.LogNorm())\n", "cbar=plt.colorbar()\n", "cbar.ax.set_ylabel(u'Values for $\\sigma_x^2$ and $\\sigma_y^2$ in $R$', rotation=270)\n", "cbar.ax.set_xlabel(u'$m^2$')\n", "\n", "# Annotations\n", "bbox_props = dict(boxstyle=\"rarrow,pad=0.3\", ec=\"w\", lw=2)\n", "t = plt.text(13.773, 51.049, \"Driving Direction\", ha=\"center\", va=\"center\", rotation=45,\n", " size=12,\n", " bbox=bbox_props)\n", "\n", "\n", "plt.annotate(\"Vehicle Stop\",\n", " xy=(13.7727, 51.0465), xycoords='data',\n", " xytext=(13.772, 51.0445), textcoords='data',\n", " size=14,\n", " arrowprops=dict(arrowstyle=\"fancy\", #linestyle=\"dashed\",\n", " color=\"0.5\",\n", " shrinkB=5,\n", " connectionstyle=\"arc3,rad=-0.3\",\n", " ),\n", " )\n", "\n", "plt.xlabel('Longitude [$^\\circ$]')\n", "plt.ylabel('Latitude [$^\\circ$]')\n", "#plt.title('Position of EKF state $x_k$, GNSS measurements and uncertainty $R$ (color)')\n", "plt.legend(loc='best')\n", "plt.axis('equal')\n", "#plt.tight_layout()\n", "\n", "#plt.xlim(13.7865, 13.7880)\n", "#plt.ylim(51.0265, 51.0285)\n", "\n", "# xticks\n", "locs,labels = plt.xticks()\n", "plt.xticks(locs, map(lambda x: \"%.3f\" % x, locs))\n", "plt.xticks(rotation=35)\n", "\n", "# ytikcs\n", "locs,labels = plt.yticks()\n", "plt.yticks(locs, map(lambda x: \"%.3f\" % x, locs))\n", "\n", "#plt.show()\n", "plt.savefig('Extended-Kalman-Filter-CTRV-Position.eps', bbox_inches='tight')" ], "language": "python", "metadata": {}, "outputs": [ { "metadata": {}, "output_type": "display_data", "png": 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fshXp3H18tNixRd+Tc+E6hF4Ros4MDSHw+Bn07g+l9VuZLHrmQf0qDOaFgr1TL8ZOWkVD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\nD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"text": [ "" ] } ], "prompt_number": 451 }, { "cell_type": "heading", "level": 2, "metadata": {}, "source": [ "Detail View of the Stop" ] }, { "cell_type": "code", "collapsed": false, "input": [ "whratio = np.cos(np.mean(latitude*np.pi/180.0))\n", "fh = 3.0\n", "fig = plt.figure(figsize=(fh/whratio, fh))\n", "\n", "# EKF State\n", "plt.plot(lonekf,latekf, label='EKF Position Estimation', color='k', linewidth=3)\n", "\n", "# Ground Truth\n", "plt.plot(LonDD,LatDD, label='Ground Truth')\n", "\n", "# Low Cost GPS Measurements\n", "plt.scatter(longitude[::50],latitude[::50], s=60, label='GNSS Measurements',\\\n", " c=sp[::50], cmap='winter', norm=matplotlib.colors.LogNorm())\n", "cbar=plt.colorbar()\n", "cbar.ax.set_ylabel(u'Values for $\\sigma_x^2$ and $\\sigma_y^2$ in $R$', rotation=270)\n", "cbar.ax.set_xlabel(u'$m^2$')\n", "\n", "# Annotations\n", "plt.annotate(\"Vehicle Stop\",\n", " xy=(13.77265, 51.0467), xycoords='data',\n", " xytext=(13.7726, 51.047), textcoords='data',\n", " size=14,\n", " arrowprops=dict(arrowstyle=\"fancy\", #linestyle=\"dashed\",\n", " color=\"0.5\",\n", " shrinkB=5,\n", " connectionstyle=\"arc3,rad=0.3\",\n", " ),\n", " )\n", "\n", "plt.xlabel('Longitude [$^\\circ$]')\n", "plt.ylabel('Latitude [$^\\circ$]')\n", "#plt.title('Position of EKF state $x_k$, GNSS measurements and uncertainty $R$ (color)')\n", "plt.legend(loc='best')\n", "plt.axis('equal')\n", "#plt.tight_layout()\n", "\n", "plt.xlim(13.772, 13.773)\n", "plt.ylim(51.0465, 51.0474)\n", "\n", "# xticks\n", "locs,labels = plt.xticks()\n", "plt.xticks(locs, map(lambda x: \"%.4f\" % x, locs))\n", "plt.xticks(rotation=35)\n", "\n", "# ytikcs\n", "locs,labels = plt.yticks()\n", "plt.yticks(locs, map(lambda x: \"%.4f\" % x, locs))\n", "\n", "#plt.show()\n", "plt.savefig('Extended-Kalman-Filter-CTRV-Position-Detail.eps', bbox_inches='tight')" ], "language": "python", "metadata": {}, "outputs": [ { "metadata": {}, "output_type": "display_data", "png": 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Tq1evsm/fPkGQGhoaoqamJpgH8uLq6sqDBw/Yt28fmZmZ7N+/n/DwcLp37y5c8848BHLb\nTC/cB6+jwlZQnGVlKEv4OXLkSCwtLWndurVwLiAgQOHaohDdpkQKZejQoQqCqlOnTmzfvj3fpMmc\nOXNIS0vD09OTQ4cOAaprXsqu69ixI59//jmffPIJr1+/xtnZWRh+JSYmsmjRIh4+fIiWlhZdunRh\n2rRp+eps1KgRffv2pXnz5mRlZXHhwgWFvltZWbF582bmz5/P48ePcXBwwM/PDw2Ngn8aha1Tl0gk\nXL58GTMzM4Xjv/32G5qamnz11Vfcu3cPqVSKs7MzGzZsALKFekBAAA0aNMDCwoKTJ08W2WZhz/ab\nb75hyZIlzJs3j7Zt2+Lp6SkEK9HV1WX27Nn07NmTzMxMAgICFOo3MDDA39+fzz//nM8++4wGDRrg\n7++fb8JPledR5uTWRJ2tsrf/p+l91YNpK+tvWFgY3t7eeHt7k5SURLNmzQgPD2fHjh2q1y0GmFZO\neQeYjouLE4avIiIfEsre7VIFmK5/U+n54xF2SuuNiorC3d1dsPOHhISwdOlSwba6evVq1NTUFOzU\nEomEmjVr0qpVK4XJzqIQNVQREZHKQRk59udO+GlkZMTu3bvx9/cvMEddcalwG6qFhQUODg40a9ZM\nsFPt2bMHW1tb1NXVC00zW5CrQ268vLxQU1MTJmF27txJs2bNhE1dXZ3r168rlPHw8Pjwcu+IiHyI\nlGBSasiQIbRp04Z79+5hamqKr6+v0oSfud3dlG15k33mpcI1VIlEwunTpxWcze3t7QkMDGTixIlK\ny+W4Ohw/fhxjY2NatmyJh4eH8FWJiYnh2LFjmJubC2WGDRvGsGHDALh58yaenp44ODgI5/fv30/V\nqlUrzgYkIiJSckpgnFS2CKOghJ8///xz0V0owkL6Tob8eTtlY2NTZJncrg6A4OqQI1Bnz57N119/\nrXStrZ+fn4IDelJSEhs2bOB///sfAwcOLOGdiIiIVBjlHL7PxcWl1HVU+JBfIpHg6uqKk5OTQnbK\nolDm6gBw8OBBTExMFLTPvAQEBDBkyBBhf8mSJcyZMwddXd0S3IWIiEiFU85LT69evUq7du3Q09ND\nTU1NYVOVCtdQz58/T7169Xj27Bldu3bFxsZGpWjYyoblqamprFq1imPHjgnH8mrAly5dQldXlyZN\nmgDw119/ERERwYYNGwQHXmV8+umnghtMtWrVsLe3p127dkB2MAWgxPtv3rwRZ/lFPljOnTvHjRs3\nBJet6OhoIRZDiShnDfWTTz7B3d2dzZs3l1jRqnCBmrPiolatWnh6ehIaGqqSQDU2NlZYwRETE4OJ\niQkPHjwgKioKR0dHAGJjY2nRogWhoaHCErldu3YxdOhQoWxISIiw5jozM5OnT5/i4uKSz/8PEJag\nFUSOYCzpfrVq1Qq7ZRGRSk27du3yvfOFTToXSTmH74uOjmbFihUKftfFpUKH/CkpKcJ66+TkZIKC\ngvLNsCsz+uZ2dUhPT2f37t14eHhgZ2fHkydPhLXTJiYmhIWFCcI0KyuLPXv2KNhPJ02aJAT2OHfu\nHI0aNSpQmIqIiLxHlHP4vj59+iiMdEtChWqoT548wdPTE4DMzEyGDRtGt27dCAwMZPr06Tx//pxe\nvXrRrFkz/vjjD+Li4hg/fjy///67gquDTCZj7NixBfqN5TUNBAcHY2ZmptTdQS6Xi7P8lZTo6Gia\nNWvGs2fPKjx7rKOjI97e3kL8UpEKoJw1VJlMRt++fenQoYNC7AK5XM4vv/yiUh0VKlAtLS0LXHPr\n6ekpCNrcGBkZKUQ/L8jVIS8REREK+506deLChQtKr7ewsMjnmyryL/v27WPTpk3cvXsXXV1dzMzM\nGDJkCGPGjHnXXSsUU1NT4UOZnJyMtra2MJTbsGFDsXIoTZkyBSMjIxYtWiQcq9AllyLZlLMNtUGD\nBkLqHPhX2SrOYlJxpZSIUnx8fPDx8eGbb77BxcWFKlWqcOPGDXx8fBg+fHiBScyysrIqXFssiNz2\n9qZNm+Lt7V1gKpfMzEyl6/ZF3jPKeZH8V199Veo63v2bL/JekpCQwNq1a1m3bh3u7u5UqVIFyF6E\n8eOPPwrCdMqUKXz22WcMHDgQU1NTzp07x927d3F3d8fS0pI2bdooxKPMndoD8if7MzQ05JdffqFl\ny5ZYWloyb9484VxWVhZLlizBysqK5s2bExQUVOz7OnfuHLa2tnh7e9O4cWOmTZuGv7+/Qh9y+hEZ\nGckvv/zC3r172bhxI2ZmZsJCEcjOkqlqahSRMqCcbaiQPey/ePEiAQEBXLp0qdjJIsVP83tMjYUl\nT12Sm1erix8PNTQ0lLS0tHyCpiD27dtHQEAArVq1IjExkU6dOjFixAgCAwO5ePEiw4YN49SpUzRo\n0ECloXJQUBAnTpwgISEBFxcXunfvTpcuXdi2bRtBQUGcOXMGXV1dRo4cWaJh97Nnz3j9+jXXr19H\nJpOxf//+Aq+TSCSMGjWKy5cvY2xsrJBwUC6XC6lRtLS06NGjB/7+/pUysWCloZxtqI8fP8bNzY3E\nxEQiIyMxMjKiZs2aHDp0SGX3RlFDFSmQly9fCrEzc+jevTuWlpYYGxsTEhIiHO/Vq5cQl+HmzZuk\npKQwc+ZMNDQ0aN++Pd27d2fv3r0qtz1jxgz09fUxMTGhXbt2/PPPPwAcOHCAyZMnY2RkRPXq1Zk1\na1aJYnOqqamxYMECpFKpEP2+KPK2I5FIipUaRaQMKGcN9bPPPmPQoEHcu3cPPT09Hj58iKenp0JY\nyKIQNdT3mJJolmVFjRo1ePHihYJN9M8//wSyU5/kHgrl/no/fvwYY2NjhbryptAoitzh0nR0dITU\nHvHx8Qp1503VoSqGhoYF2n+LS95UIMW5R5ESUM421FOnTuVbz79gwYJiLb4RNVSRAmnVqhVaWlrF\nzjFfr149Hj16pKDR5U6hoaurK2TnBIqVXqJu3boKmSdjY2OL1bcc8poJdHV1SU1NFfafPHlS6PWq\n1ClSDpSzhpqWlpbvQxsTE4Oenp7KdYgCVaRAqlWrxty5c5k7dy6//fYbiYmJZGVlcePGDQWBmBcn\nJyd0dHTw9vYmIyODc+fO8eeff9K3b18ge1Lr8OHDpKamEhERoVI09Bzh3KdPH3788Ufi4uJ4/fo1\n3333XZncq52dHXfu3OHmzZu8ffs2X2jI2rVr8/DhQ5X6KFKOlLNAtbGxEfKiyWQyVq9eLaT5VhVR\noIooZfr06axYsUKYEbexsWH27NksXbpUIZ97bu1MKpXi5+fH8ePHsbKyYt68eWzevJmGDRsCMHny\nZKRSKdbW1kydOpUBAwbkS6mRl5xjI0eOxMXFhQ4dOuDi4oK7u3uJNMO8ZRo2bMjcuXPx9PSkVatW\ntG7dWuGa4cOHc/fuXSwtLRk5cqTSOkUttZwpQdbT4rBixQrevn0LQIcOHQgPD2fTpk3FsqGKKVAK\nQUyBIiJSMsolBYo0Run54xmmJao3Nzdu3EBLS4tGjRoB8ODBAzIzM7G2tla5DlFDFRERqRyUc/i+\ncePGCXZ5f39/2rRpQ9euXQvMDqIMUaCKiIhUDsrZhnr79m3atm0LZEeZ8/PzIzQ0lI0bN6pch+g2\nJSIiUjkoZ8d+qVSKRCIhMTGRf/75hw4dOiCVSklISFC5DlGgioiIVA4K00TLQNa2bduWSZMm8fbt\nW7p3745UKiU6Olr0QxUREfkAKWcb6v/+9z/kcjkaGhqsX78eyA6eU1iQ+byIGqqIiEjloDANtQxU\nw7p16+Lr66twrH79+tSvX1/lOkSBKiIiUjmoBA6eokAVERGpHJRzgOmyQBSoIiIilYNynuUvC4q0\nPLRv316lrWvXrhXRXxEgQ5bMs5RQbr3YyD8vNvAk+Txpstfl0ta+fftwdXXF1NQUa2trunbtytat\nW4XzU6ZMwdDQUCGbZUREBIaGhsL+7du36du3Lw0aNMDS0hIXFxeFZGjr16+nWbNmmJmZYWdnx9ix\nY5X2x9HRkbp16/LypWIkro4dO2JoaFjigCkfOo6OjgQHB7/rbpSOCggwXRAuLi4qX1ukhnrlyhU2\nb96sNPhDTs6V6dOnq9yohYUF+vr6qKurI5VKCQ0NZc+ePSxdupQ7d+5w+fJlpUs+jx49ysyZM5HJ\nZIwbN4758+crnPfy8mLu3Lk8f/4cAwMDdu7cybp164Tz169f59q1a1hZWdG/f38iIiJQV1fH3d2d\n1atXq3wP5UlqRjyv0v4hIf0+Ohq1qaFlj75W9lr4TFky91/7cu3ZFwplbGpMxrbmHLTUa/xbT+Yz\nMrOS0FSrhpZG8YNVF5YCZcSIEUilUiA71N/KlSvZt29fgfUMHTqUsWPHEhAQgFwuJywsTHif/P39\nCQgI4MCBA5ibm/P06VOFCP95kUgkmJubs2/fPsaPHw/ArVu3ePv27Xu1lj7n/t6XPhU3N9J7STlr\nqJ07dy7w+NmzZ3F1dcXc3Jx58+YVuhS1SIHaunVrPvnkkyI7s3PnziKvyUEikXD69GkMDP79kdvb\n2xMYGMjEiROVlpPJZEydOpXjx49jbGxMy5Yt8fDwELKfxsTEcOzYMczNzYUyw4YNE9JW3Lx5E09P\nTxwcHEhNTWXevHl07NiRjIwMunTpwtGjR+nRo4fK91EeJKZHcSFuAi/eXhGOSdWq0slkL7V0W/I6\n/XY+YQpw59UmjPS6UbdKR9Jkr3mcdIy/n68gOSMGfc1GNK31JXV1O6ChXkWlfuSkQNm0aRNubm7C\n8ZwUKLkZPHgw+/bt48KFC7Rp00bh3IsXL4iOjmbkyJFC7iZnZ2fh/F9//YWLi4vwN6tdu7bSACQ5\nDBw4kN27dwsC1d/fn0GDBrFy5UrhmrS0NFasWMHBgwdJT0+nV69erFy5Em1tbd68ecPEiRMJCwsj\nMzMTZ2dnvLy8BH9DPz8/1q1bx/PnzzE0NGTRokX079+fNWvWEBUVxebNm4H8WVfd3d356KOPOHv2\nLDdu3OD8+fOkp6czf/58rl+/Ts2aNVm4cCF9+vQBsrV7HR0doqOjCQkJwc7ODl9fXzZs2MDu3bup\nXbs2W7ZsEVKtP378mPnz5xMSEkKVKlWYPHkyEyZMAGDNmjXcvXsXHR0dDh8+jImJCT/88ANNmzZl\n0qRJxMbGMnToUNTV1Zk7dy4TJkxg+vTpnDhxAplMRoMGDfD396dWrVqqvB7vhnLWREeMGKGQBTnn\n/yEhIQwZMoRbt24xaNCgAhON5lDkkF/VfPXFzWed92tpY2MjBCVQRmhoKA0bNsTCwgKpVMrgwYM5\nePCgcH727Nl8/fXXSsv7+fkxePBgIDtwcU4KYKlUSvPmzRVibb4rHibsVRCmABlZiVx8PInUzGe8\neqs8KnxcUvbfIDrhIBceTyQ5IzuYREL6PYIfDeNxymmV+1GcFCg6OjrMmjWLFStW5DtnYGBA/fr1\nmThxIkeOHMkX/9TJyYndu3ezceNGrl27hkwmK7I9JycnEhMTuXfvHjKZjMDAQAYOHKhwzbJly4iM\njOTs2bNcuXKFx48f88033wDZuamGDx/O9evXuX79Otra2sJIJzk5mYULF7Jnzx6io6P5888/sbOz\nA1TTNgMCAvjuu++IiYnBwMCAvn37MnDgQMLDw9myZQtz587l7t27wvUHDx5k8eLFhIeHo6mpSbdu\n3WjevDkRERF4eHiwePFioc9Dhw7FwcGBW7duceDAATZv3qzw+8wJk/jw4UN69uwp5OPavHkzJiYm\n+Pv7Ex0dLeTRSkxM5ObNm0RERLB+/XqVsxe8M8rZD3XMmDGMHTuWMWPGKPxfKpUyduxYvLy88mVV\nzss7ceyXSCS4urri5OTETz/9pHK5R48eYWpqKuybmJgIQvDgwYOYmJjg4OCgtHxAQABDhgzJd/z1\n69ccOnSo1NFqSktKRjz3XhX8PJIyIklKj0JexNuTlB7N38+WFXju2tMveJv5XKW+FCcFSk7updjY\nWI4fP65Qj0Qi4eDBg5iZmbFkyRKaNGmCm5ub8GIOGDCAtWvXcvLkSTw8PLC2tsbb27vI/uVoqadO\nncLa2jpfHvVff/2VFStWUK1aNfT09Jg5c6aQO6pGjRq4ubmhra2Nnp4es2fP5vz580J5NTU1bt26\nRWpqKrWucH8zAAAgAElEQVRr18bGxkaotzAkEglDhgzB2toaNTU1jh8/jrm5OUOGDEFNTQ17e3vc\n3NwUlAA3NzccHBzQ0tKiV69e6OrqMnDgQCQSCZ6enkKK87CwMF68eMGcOXPQ0NDA3NycESNGKOTD\n+uijj3B1dUUikTBgwAAhdUxBSKVSXr58SUREBBKJBAcHB6pWrVrkc3+nvCMbau75gVWrVhV67TuZ\n5T9//jz16tXj2bNndO3aFRsbG9q3b19kOWUaQmpqKqtWrVLQkvO+/JcuXUJXV5cmTZooHM/MzGTI\nkCHMmDEDCwuLfHV/+umnmJmZAdlBl+3t7WnXrh2QnUETKPH+mzdv8ixrk5Mlz1B6/3IyMNBW/sEw\n0utKmuwl6VkFT1AlZUSSLnuFtkZNpXXkUJwUKACamprMmTOH1atXs2XLFsV+GRkJEXsePXrErFmz\nmDx5slBf//796d+/PzKZjMOHDzNx4kTs7OyUTgZIJBIGDRrExx9/zMOHDxk8eLDC3/v58+ekpKQo\n2MTkcrnQ55SUFBYtWsTJkyd5/Tr7WSUnJyOXy6lSpQo///wzPj4+TJ8+HWdnZ5YvX46VlVWRzwxQ\nSNESGxvL1atXsbS0FI7JZDIGDRok7Nes+e/fQktLS2HIra2tTXJyMpBtzoqPj89XV24TS+6ULLq6\nurx9+1ZpWu9Bgwbx6NEjxo4dS0JCAgMGDGDx4sVlmlL73Llz3Lhxgzdv3gDZJpJx48aVvMIKcJvK\nyMggJCRECD/40UcfCbF8AaZOnVpo+XciUHO0iVq1auHp6UloaKhKAtXY2Fgh33pMTAwmJiY8ePCA\nqKgoHB0dgewXuUWLFoSGhgov2a5duxg6dGi+OidMmIC1tbXSSbXClp3lCMaS7lerVk1hX0ejDg2q\nDef2K598belo1EVPaoFUrRqOtb7g72eKOcQbVR9PDS170mSvUJdoI5O/zVeHlnpNNNRUS+eQOwWK\nu7t7odfmCLOhQ4fi7e3NoUOHlF5rbGzM2LFjBftnbtTV1enduzfe3t7cuXOn0NlVExMTLCwsOH78\neL5oQIaGhujo6HDx4kXq1q2br+z333/PgwcPOH78OLVq1eLGjRt06tRJsJm5uLjg4uIi2GFnzpzJ\n77//ni99S95UKaD40Tc2NqZNmzZKs6oWB2NjY8zNzbl8+XKB54syR+Q9r6Ghwbx585g3bx4xMTEM\nHDiQhg0bMnz48FL3NYd27drle+dza3vFppwnpW7duoW7uzspKSmYmpoSExNDlSpVOHTokDBPUxRF\nDvkTEhLYvn07v/76K69evSp1p1NSUkhMTASytYKgoCDB6J6DsqGVk5MT4eHhREVFkZ6ezu7du/Hw\n8MDOzo4nT54QGRlJZGQkJiYmhIWFCcI0KyuLPXv2CPbTHBYvXkxCQgIbNmwo9X2VBRKJGvWrD6eK\nhpnCcTWkfFTXB12pEVL1KjSqPg5XsyM41lyMveF8upj+hn2tBWhpGFBV0xIbgykF1u9QcyG60noF\nnstLSVKgaGhosGDBAoXUJK9fv2b16tVERkaSlZXFixcv2LlzpxDx38/Pj2PHjgn1Hzt2jDt37tCi\nRYsi++jt7c3BgwfR0dFRfF5qaowYMYLPP/+c58+zTRxxcXGCvTE5ORltbW309fV59eqVgt392bNn\nHDlyhOTkZKRSKbq6uqirqwPZE3IXL14kNjaWhIQEvv3223x9yv3udu/enQcPHhAQEEBGRgYZGRmE\nhYVx7969Iu8tLy1atEBPTw9vb29SU1ORyWTcunWLa9eu5Wu3IGrVqkVkZKSwf+7cOW7duoVMJkNP\nTw+pVCrc53tLOQ/5P/30UyZMmEBcXByhoaE8fvyYcePGMXnyZJXrKFKgBgUFMXLkSEaMGFGoO4uq\nPHnyhPbt29O0aVOcnZ1xc3OjW7duBAYGYmpqSkhICL169aJnz55A9g+hV69eQPYP1sfHh+7du9Ok\nSRMGDRpU4Jcj79c4ODgYMzMzhSF9bGwsq1at4vbt2zRv3pxmzZop+Fe+K6ppNaKL2QFa1/uRBtVG\n0rTWMrpZHKNulU7CNVJ1PWrrfoRtzdnY15pPnSrtBHcpiUQNq+pjaGIwAzWJFgAakio0rfUlplUL\n1zTzUpIUKP369aNu3brCMU1NTWJjY/H09MTCwoJ27dqhra3N999/D4C+vj7r16/H0dERS0tLvvrq\nK7y8vBQ8AZRhYWEhjEry9mPp0qXUr1+fbt26YW5uTt++fXnw4AGAEFHIysqKHj160KVLF6FsVlYW\nmzZtwtbWlgYNGhASEiK43XXu3BlPT0/at29Ply5d6N69e753Lfe+np4e+/btY//+/dja2tK4cWOW\nL19ORkZGgdcXlEYlZ19dXR1/f39u3LhB8+bNsbKyYtasWYJyUlhZgFmzZuHl5YWlpSU+Pj48efKE\n0aNHY2FhQevWrWnbtq2CKeK9pJwnpf766y9mz56t8NzmzJnD33//rXIdRaZAOXz4MJ06dSIrK4ug\noCD69+9f8h5XMipzCpQseSZJ6ZGkZ71BUy1bc31ffCJFPnzKJQVK/Bul54/XrVbqSWU7Ozt8fHzo\n1KmTcOzUqVNMmzaNmzdvqlRHkTZUNzc3Dh8+TFZW1n9KmFZ21CQa6GupNpEiIlIpKGcb6sqVK/Hw\n8MDNzQ1zc3MePnzI4cOHi+Vjr5LblJubGx4eHiXuqIiIiEipKWcbau/evbly5Qo2Nja8fPkSa2tr\nrl69WuSkbG7E4CgiIiKVgwpYOduoUSO++CL/SkRVKVJDXbJkiUoVffnllyXuhIiIiEiRlLOGamlp\nmW+zsLAo0D9dGUVqqBs2bGD06NGFXiOXy/nuu+9YtqzgFToiIiIipaacbahbtmxh69atpKSk0KhR\nIxo3boy3t3c+d8vCKFKgpqSkKKwUUIaWlpbKjYpko6WlxYsXLzAwMBBn4EU+GFJSUsrHp7WcV0ol\nJCQglUpp0KAB3bt3x8XFha5duyrERSiKIgVq3iWGImWHoaEhSUlJxMXFqSxQ37x5k2+FVUGkpUNq\nahoPwm9gqZtGbR3IkkOinhlVapsWWb647ZUVYnuVs63cqKurKyyDLTNKYEMdM2YMv//+O7Vr1+bG\njX8DCxUUBvTevXu0bduW8ePHM2DAAFxcXKhZsybh4eFkZmaqtCxXnJR6x+jp6aGnp9pyUIDQqxFo\nVmnMhSsS6tWGti3l2DaC/w9NKhAXF8eAPr1Zax1L+/qQmAFhrb/Cod2AYvUvIiJC5WV3ZYHYXuVs\nq0IogYY6evRopk2bphASUlkYUBMTEzQ1NQGE+AdaWlokJycXGA+hIESBWol4+Ag27erA5b///eOq\nqcnx9ZLh5go5Su6TJ08Y2Lc3GxrH4mEBr9PhapsVNO/3abHbzLsWu7wR26ucbVUIJdBQ27dvT1RU\nlMKx3GFAASEM6IwZM5g2bRpnz55VcO5XVZiCKFArFceCJQrCFCArS8KURerYWsuobwZPnz5lYF8P\n1jV4QE8zeJkGV9uuxqmf8sDdIiKVgtwa6r3rEP7vEP4vlxYqr5QqKAzopUuX0NHRyRcprbi8k3io\nIsUnIRF8d6tB2tl855JSJEQ8zA7sMdDTg68tw+lpBs9S4azTslIJ05yQgxWF2F7lbKtCkEv+3awc\n4ePhwta0aVOVqynPCeBiC9SgoCDGjBkjpMW4cuWKylH9RUqORAKSQv5aCQnPGdS3N2ss7tHDFJ6m\nwtmWy+gwdFrFdVJEpDwpIz9UZWFAIyMjmTdvHsuXL8+XBFJViiVQN27cyOTJk7GyshIyKGprawtp\nGkTKj6p6MG5IFmjljxurp/Oc71b2ZoXpnVya6VI6Dyu9MP2QbYwfensfnA21jASqsjCgv/32G6NH\nj6ZJkyb079+/RGEWiyVQN2zYwPHjx1m4cKHgZ9a4cWPu3LlT7IZFio9rOzmd2yi6sWlIXtBYoyfb\nbG/TyzxbmJ5p8QUuw1XPQitSeqZMmVJgep3iXpMbQ0PDQoN1/+fIPeTPuylhyJAhtGnThnv37mFq\naoqvr6/SMKAmJiY0btyYfv36ceTIkRIpisUSqElJSQrGXID09HTRqb8ckMshIgaCzsGfwXA/Cozq\nwKjewez7XyZfzJSxfPYjjDW6MbLmXZrVhPA3cLLZF3QZMbPM+vEh2xgBevTogaenZ4Hn7t69i6Gh\nIadPn1aprqJsc2vWrCly1WFZcu7cOW7evMmwYcNo3LgxRkZGODg48MknnxAbGwtkpyUxNDQsVszP\nd0YJNFR/f3/i4uJIS0sjJiZGeP49e/bk7t273L9/n4ULFwLZMZJz8nBpa2vz7NmzYnexWLP87du3\nZ82aNQqSe+PGjUrzWYuUDJkMjp2DCZ9LSErJfll0tOVsXCrHoAp0agP1jaPo27cvCfGRuLfNLner\n6TS6fVJ2wvS/QNeuXVm9ejUxMTH5lIUdO3ZgZmam4EJTGqpWrYqurm6Z1KUKb968YdSoUbi6urJ7\n924MDAyIjo7m2LFjJCQkKFxbVMT/94Jy7uKUKVNYsGAB//zzD1paWly5cqXoQnkotg01MDAQc3Nz\nkpKSaNSoEbt378bLy6vYDYso59Z9GDnnX2EKkPpWwviFEvRrtSM6OprevXtjmxXJrYFgXhVe6JjQ\nYcyiMu/Lh2xjBJg5cya1a9fOF/MyIyODgIAAhg0bBsCdO3cYNGgQZmZmWFtbM378+HwpseVyOZs3\nb8bW1pb69eszdepUUlNThfNTpkwRMhXk4OPjg5OTE/Xq1cPOzo7ly5cr7WtcXBxjx46lfv361K9f\nn8GDBxeZ1vjNmzf4+Pjg4OCAiYkJbdq04csvvxSSVTZr1gyALl26YGhoSO/evYHsFZLffPMNdnZ2\n1KtXj3bt2vHHH38I9eZotvv27aNnz54YGRnh7OzMqVOnCu1PqSjn4CgaGhqsW7eO3377jW3btpXo\nQ1osgWpkZMTly5cJCAhg586dbNu2jdDQUIUUviKl59o/kJmZ/yWRyyUcORaLm5sbpunR7HGFurrw\nTK8+6tOPgIbmO+ht5UZdXZ3Bgwfj7++voKUdPXqUly9fMnToUOLj43Fzc8PW1pYTJ04QGBhIcnIy\nw4YNUyhz8eJF7t69y4EDB/j555/5/fff+fHHHxXay20WyEn3Mnv2bEJCQti+fXs+LTmHlJQUevfu\njY6ODocPHyYoKIg6derg6empILRzU7t2bbKysjh48KBSDTQn7ffevXu5c+cO27dvB2Dz5s34+Piw\nbNkyzp8/T69evRg5cmS+yPVffvklkyZNIjg4mM6dOzN8+HAeP36s7HGXjhLYUEuCVCqlWrVqQuql\n4lBstyk1NTWcnZ0ZOHAgrVu3fv8Te1VCXirL9JAZz+b13ZC+ieVAN9DWgPvG3dD4/DLy6ibl0pcP\n3YZ67tw5hg8fTmxsrIKtdMeOHbi4uGBkZMTWrVuxt7fniy++wMrKiiZNmvDDDz8QFhbGX3/9JZTJ\nyY9lZWVF586d6d27N2fOnFFo78WLF0D2fMTmzZv58ssvGTp0KObm5jRv3pxRo0YV2M+czKk+Pj40\nadKEhg0bsn79epKTk4V03HlJS0tj9uzZfPrppzRo0IB+/fqxYcMGwX4K2RNfAAYGBtSqVUtY+//9\n998zbdo0+vXrR/369Vm4cCGtW7fGx0cxI+/YsWPp3bs3DRs2ZPXq1RgbG5dfbrZy0FDnzZtHQkIC\ncXFxxMXFKZybNGlSsesr0oa6ZMkSJBKJ8IVTZnj/6quvCjyeFwsLC/T19VFXV0cqlRIaGsqePXtY\nunQpd+7c4fLly0rzOBUU0CA3Xl5ezJ07l+fPn2NgYMDOnTuFBGsA169f59q1azg4OHD16lVGjRrF\n27dv+fjjjxUydb5LUtPkONoU8IxlL+FpXzJk8eztAzV1IM6wOYaTd/y75lSkRNSvX5+2bduyc+dO\nOnfuzOPHjzl16hQ///wzAH///TcXLlzAzEwxG61EIiEyMlIYNltbWyv8PurUqcPVq1cLbPPu3buk\npaXRsWNHlfr4999/8/Dhw3x9SE1N5eHDh0rLLVq0iE8//ZTg4GCuXLnCjh07WL9+PTt37qRDhw4F\nlklISCA+Pj5fokRnZ2dBo80hb7LGFi1acPfuXZXuqdiUgw21RYsWpKamYmRkxIkTJ/LlwQoMDFSY\ntNywYQNubm5YWRWcXqhIgRoTEyO8JG/fvmXfvn20bNlSyLly+fJl+vXrp/INSCQSTp8+jYGBgXDM\n3t6ewMBAJk5UvqJHWUCDnOAPMTExHDt2DHNzc6HMsGHDBBvYzZs36dOnDw4ODgBMnjyZn3/+mVat\nWvHxxx9z9OhRevToofJ9lDV3orL4/Zyc389m0a+zhC5tNDhx4f8HEFnJ8GwIZNzihw7QvBYkaNdB\nZ+p+UC/f1cMfug01p73hw4czc+ZMXr9+jb+/PwYGBnz88cdAtm20e/fuBSoNNWvWFP6fNxqRRCLJ\nF60t93tfHLKysrC3txeEfG6qV69eYJmce6tRowa9e/emd+/efPHFF3Ts2JF169YpFaiFUZQng1wu\nL7+VSIVqoiWTtpGRkdy8eZOnT59iaGiYb/nqqlWrUFdXF1JAtW3blps3byoVqEUO+X/55Rd8fX3x\n9fVFLpfj7+/P+fPn8fPz4/z58+zatavYM4R5r7exsaFRo0aFlskd0EAqlQoBDXKYPXu2Qn71vPj5\n+Qk+gI8fPyYxMZFWrVoBMHLkSA4cOFCseyhLbkVk4T4jk5VbZPx1V86SzVnUt5KxZn4WzZpkop82\nHtIuMcYaxjWGTIkUJuwBbf131ucPDXd3d7S0tIT5gUGDBgnmLEdHR27fvo2JiYkQwT1nyx0prDiC\npFGjRmhpaeUzCSjD0dGRiIgIDAwM8vVBmUAtCKlUioWFBSkpKcI+ZCssOejr61O3bl1CQkIUyoaE\nhGBjY6Nw7PLly8L/5XI5YWFhRf6WS0w52FBtbGyYO3cu3t7e1KlTJ9/56tWr07lzZ1auXMmtW7do\n3Lgx169fV1pfsWyoR44coU+fPgrH3N3dOXLkiMp1SCQSXF1dcXJy4qefflK5XEEBDR49egTAwYMH\nMTExEbTPgggICBAE6qNHjzAx+dfmaGxsLNRV0chkcvyOZvEij930pwMyvHan09xkFQlPj9DUEL5v\nB6fjIK3ft8jq2VVI//4LNlQAHR0d+vfvz5o1a4iKimL48OHCNWPHjiUhIYExY8Zw9epVoqKiOH36\nNLNmzSIpKUm4ThXFImdJY9WqVZk4cSJfffUVfn5+REZGcvXqVXx9fQssN2DAAGrXrs2wYcO4cOEC\nDx8+5MKFCyxZskTpTP+GDRuYNGkSQUFB3L9/n/DwcDZu3Mjx48eFCZdatWqho6PDiRMnePr0qeBO\nNW3aNHx8fNi3bx/3799n1apVhISEMHXqVIU2fH19+e233wgPD2fhwoU8evSIMWPGFPkcSkQ52FBz\n5JmGhobg+ZCbTp06ER8fz6xZs9i5cycTJ04sNGlfscaLDRs2xMfHhxkzZgjHNm3apFJE/xzOnz9P\nvXr1ePbsGV27dsXGxob27fMvp8yLsq9/amoqq1at4tixY8KxvC/2pUuX0NXVLfCBFcWnn34q2K2q\nVauGvb29MJTK+TGWZv9VopwDp/7fVpV0PvtfvWzH0md3vPn5zHqqa8LerhDyFC7rtsSxxZAya7+o\n/Rs3bpRr/e9Te3Z2dmzduhVnZ2esrKwUrv/jjz+YPn06np6eyGQyTExMsLGx4cqVK4J7zatXrzh3\n7pxQX0xMjKAJQnYksMTERGHfxcWF169fs27dOuLi4tDX18fFxUXB+f/27du4u7ujo6PDkiVL2LZt\nG6NHjyYhIYHq1avj4OAgaKh57y8lJYWEhASWLFkiTLjUqVOH5cuXM3HiROH61atX880337B27Vps\nbW05c+YMEydO5J9//mHhwoUkJCRgZWXFggUL8q1xHzRoED/88APXr1+nZs2azJ8/X/D6yXm+b95k\nawvR0dGMGzeOElNOfqj6+tkjva5du+Y7t2jRv66IK1euLLIuibwY4/Vr167Rp08fMjMzBa1OQ0OD\n/fv306JFC1WrEVi2bBl6enp89tlnAHTu3BkvL68CJ6VCQkJYunQpR48eBbJfAjU1NXr16kWXLl0E\nh+nY2FiMjY0JDQ0VoobPmjWLOnXqsGDBAiB7yO/i4sLt27eB7NUUZ86cYfPmzQptnjhxQukEWVkR\n/UTGkAUybkfmOZEeA+Fdkchec6A7eFhAppEDiZOOglS7XPskIlIU0dHRNGvWjJMnT+Lo6KhyubCw\nMJXD7OXmxIkTuAYr1/+Od8gsUb1lTbE01GbNmhEeHk5ISAhxcXHUq1eP1q1bC1GuiyIlJQWZTEbV\nqlVJTk4mKCgoX7ZUZfI9d0ADIyMjdu/ejb+/P40bN+bJkyfCdZaWlly9elUw/mdlZbFnzx6FoWS9\nevXQ19fn0qVLtGrVil9//ZXp0yt+7XtWlpy9F9Nw76yhKFCz0uDheJC9ZlKTbGEq065G8rBtojAV\n+e9Szkn6yoJi+6FqamrSoUMHBg8eTMeOHVUWppAdSb59+/Y0bdoUZ2dn3Nzc6NatG4GBgZiamhIS\nEkKvXr3o2bMnkL0yJMfWoyygQV7ymgaCg4MxMzPLlwr2hx9+YNy4cVhZWdGwYcN3MsMf+VSG14FU\nHiWn0zf3x/XxMkj9C0NtWPz/CvLbXsvJMjD/z9g0K3t7yhSDDykeaoUnliznlVJlQbE01Nw+qXkf\npip+qJaWlgqO0Dl4enoWGKDCyMiI33//Xdjv2bOnIGyVkddA36lTJy5cuJDvuhYtWigk7XoXvEmW\nk5oOO8+m0ck2iy+naXEzNIh9P21FXQK7uoBRFcg0aU5604HvtK8iqpOVlUVgYCBt27albt2677o7\n5YKZmRnPnz+v2EYrQbiBYgnU3D6pkG2LDA4OVhqtR6RwtDShWhUJb5LlnP4ng9OXH8D5yQB80QJc\nTSCrSk2Shm8TlpX+V/xCK2t7crmco0ePEhcXR2xsbD6BKsZDLQXvkSaqjGIJ1F9++SXfsaNHj+Ln\n51dW/flPUb0qjO2uyfr9aSBLgytjQZaCuR7M//+MDq8HbEFSzfjddlREJeRyOSdOnCAiIgK5XF7x\nGtyHTiUQqKXOKdW1a9d36hRfmalTVYMahlksHKSF3qPvISUKgOUtQUsd/q7VhxtqbUlI+nes86HY\nGD/E9q5cucK9e/eE1VFPnz7l/PnzCq5SH5INtcKpoOAopaFYGmpe+2RKSgo7d+7Mt75YRDU01CU4\nW2oxZ28c6ZE7AGhqCCMaQaZEk1Mm83h2UU58PMwfJ6eWwfvz4ogoEh8fz/Xr18nMzBSOvX79mqtX\nr/LPP//QoEGD98Ktp1JTARrqrVu3qFKlisIS9uJQLA21YcOGCttHH33E2bNn2bZtW4kaF4FGtaQM\nqf+a9NRsLebLltl/kj+rjuB8tDnqahK27oULYdnXV3Yb44fYXlpaGidOnCA5OTnfOQ0NDYyNjYV1\n86INtRTIC9nKgMWLF9OiRQusra2FMIZ79+5lzZo1KtdRLIG6du1asrKyhC0pKYlz586pvB5ZJD/6\nVdSoopa9nrqeLriZZiFDA7+MqcTGw/V/sr/KP+2Bt+mVYJrzP4ZcLufPP/8UwvLlpkqVKjg7O9Or\nVy9hzbxIKShnt6lNmzbx999/c/LkSTZs2ABkf5S2bNmich3FEqjKXKMKizIuUjRuLtZUNzDCxRg0\n1OBIvBGP39ahq6MWv53MflkSkyFLVrltjB9ie5cvX1ZISZyDnp4eLi4u+VYQijbUUlDONlQ1NTUa\nNGhA69atiYqKAqBu3br5MjMUhko21JMnTyKXy5HJZJw8eVLh3IMHD4S1sCIlo7q+lG/WLiN283gA\nbj6O4fmrP1h+/N9ANIM+hj/OSNi8FZqchP49oZkt6FVciiKRPDx+/JgbN24oRGqCbGHauXNnLC0t\n31HPPlDK2YY6cuRItm/frhBLISAgQGkWhYJQSaCOGTMGiURCWloaY8eOFY5LJBLq1KnDxo0bi9Ft\nkYLo27cv54MWAU95mCjnRuh4qPUS9EfTqL4E5DD+cwnQnqv34dcDsHqOnNEDQLMcR5OV0aZZEe1l\nZmZy8uTJfHbTooSpaEMtBeVs8QoLC8Pb2xtvb2+SkpKEpfY7duxQuQ6VBGqO+jtixAh+/fXXEnVW\npHAkEgltXbrDX7/yqS343s0i/dlcPrIJY/L4bxizML8qungDtG8FTVQP9iVSRly8eDGf3TRnmJ93\nmbNIGVHOGuqIESMYMWIEkP17rFmzJq1atSowTqoyimVDFYVp+aJV3wkAB0OY9v/hTkPO+jNxbHdk\nb//fZS31X7uYTCYhMr/5rkypbDbNimjv7du3PHjwQOGYqsJUtKGWgnK2oY4ZM0bYRo8ejbu7e7GE\nKaigoQYHBwsuH3ntp7lxcXEpVsMi+UlvOgDt0xtQfxnFYmdtvr3xFpkc3ib+A0kdocZSkForlMk9\nefwqQc6jJ6ChDuZGoKMt+q2WB8HBwQp57TU1NWnTpo2omZY35ayhKjPTyOVyYZReFEUK1E8//VRI\nHZtjS82LRCIpMj+4iApItUmYeYHqyxtQPSOVw18Moc+a/aSlpYE8GV7OBe1OoGEOUjP09eQ0ssgu\nGvK3nM+94K872Tn7Pu4IiyfLsbYs3UtYWWyaFdXemzdv8s3qW1hY5EsNUlbtlQbRhlo88ubrio+P\nx9vbmwEDBqhcR5ECNXce7ilTpjB37tx813h5eancoEgRSLVJ6bWSKgdm0/3lb5zZs4Xhs1dw//7/\nZ5J8exrinJEazmKL9zQsTLS5cVdO36nwNi37Erkcfj8NdyLg4A9yjGqLmmpZERwcrDARVbNmTVxd\nXd9hj/5DlLOGWtAo28XFhe7duwtB8IuiTPxQV6xYUZxqRIogveVI0m3dkKQn43R5Oef+2MukSdP/\nHZvtL2EAACAASURBVB3I35LxfDXzZ7QlKCiIoAv/CtPcPIiGW/dL15fKYNOsqPbi4+N5/PixsK+r\nq4uLi0u+bKdl1V5pEW2opUdLS6vQNN15Ef1Q30fU1Ege8D3qzx+g/uQ2hjsGsfrzA3h69mLy5MmC\neSUyMpLBgwdjaNQRJAtAp1W+qp6/qujOf7hcuHCBt2/fAtlO4I0bN/5g452+l5Szhrps2TKFwOCp\nqakcOnSoWMHnRT/U9xWtqiSO3U/VnzzQiL+Fvk9nPhrqy6VLl9i2bRsrVqzg9evXALyIOwOcAV0X\nMJgH2i2Famob/lvl3Ydybj2Q8yZJTkNTCY3rSzCsVvhL+r7bNCuqvYSEBAU3qbp169KmTZtya68s\nEG2oxePBgwcKAlVPT48ZM2YwatQolesQ/VDfY+RV65A47iB6Oz9BI/oyVf/Xi9SeyxgzagIeHh6s\nWLGCHTt2COHiSDmZvWk1g2qjsLH3pEmDKgAEh2UxZIGM1FymAbf2EtbMUMeolmhjLYpr166RmpoK\nZK/R79q1a8WnAPmvU84aak5AlNIg+qG+58j165I4/hBv20xEIssg9H+fo7fFg9qy53z77bdcunSJ\nQYMGoaaW60+Zdg2eziAmpAnr1s7l+OnrjFmqKEwBDp+Vc/pyVqHtv882zYpqTy6XC2mYITsVc7Vq\n1cqtvbLig7OhVkBOqfT0dM6cOcOuXbsIDg4mPT29WOWLHWA6Pj6e3377DV9fX7Zu3SpsqmJhYYGD\ngwPNmjWjVatsm9+ePXuwtbVFXV2dsLAwpWWPHj2KjY0NVlZWrF27Nt95Ly8v1NTUFHKHX79+ndat\nW2NnZ4eDg4PwgHx9fbG3t8fR0ZGePXsWGC3ovUFDk1T31SQN20aWTjWkkRfQ9+6Azu+LaWhUk02b\nNnHx4kX69huIVPpv0sTk5CS2bt3KwL6deHm1B7z0gyzFpZKb92WRmCxGsSqMx48fC+YVXV3dD28o\nXVko50mpq1evYmVlxdChQ1m/fj1DhgzBysqKa9euqVyHRK4sPWMBHDhwgOHDh2NlZcXNmzexs7Pj\n5s2btGvXjlOnTqlUR940zwB37txBTU2NiRMn4uXlRfPmzfOVk8lkWFtbc/z4cYyNjWnZsqWQRhqy\n812NHz+eu3fvCvVnZmbSokULduzYgb29Pa9evaJatWpkZmZSr149wsPDMTAwYP78+ejq6uZLaX3i\nxIkC+/IukaS8QjtoJVqhvkjkcrK09UlrO4m0tpOR61TjxYsX7Nq1i+3btxMeHp6/ArWqUL0/GIwA\nHVsamcOf32vwPEHO7YdZJKfKsaynhrWZGtX0xCEtwJEjR7h/P9tdwtLSEnd393fco8pLWFhYiQJt\nnzhxAtefla9aOj72SakDeDdv3pxRo0YppJT/7rvv2LZtW6GKXm6KpaEuWrSIrVu3cu3aNfT09Lh2\n7Rr/+9//ii108spwGxsbGjVqVGiZ0NBQGjZsiIWFBVKplMGDB3Pw4EHh/OzZs/n6668VygQFBeHg\n4IC9vT0ANWrUQE1NDQ0NDWrUqEFSUhJyuZyEhASMjStH3ia5bg1S+6wjccpJMuq3R+1tAjonvqba\nWge0/1xBTWk6U6ZMISQkhEOHDtGvXz8FrZWsRHjpC/dd4P7H2Brs4u/wJDpPS2Xk8jQmr0unx2dv\nWfJTOk9fFW4O+C8gk8mE3FA6OjolmogSKSPKOcD0/fv3mTx5ssKxqVOnCh9TVSiWQI2JiWHgwH/T\nGcvlciHklapIJBJcXV1xcnLip59+Urnco0ePFMJomZiY8OjRIwAOHjyIiYkJDg4OCmXCw8ORSCT0\n6NGDFi1a8M033wDZLi/fffcddnZ2GBsbc/v2bcaMGaNyX94lOXYxmbEjSeMPkjjhMBkNOiBJS0Tn\n9HqqrXWkyq7xaPxfe+cdFuXR9eF7WbpgQcQCqNgbNsQaFFvsWMDeYoktGhVNMZZoYi8x0WjeLyax\nxN6IitGIGjVqLNiwIBpRFFAERerCtvn+IKwioiJL0cx9XXvFfcr8Zp48ezhzZuZM+HmaNWvGqlWr\nuHLlCj4DZ4F5xYyFqc7ht2483du7khg8HZKDDafWH9ByPEhfIGOaeal38+ZN4uLigLTYafHixV96\nfU71jImMoWaPjh07smfPngzHfvvtNzp27PjaZWRrTykHBwcePHhAqVKlKF++PH///Tf29vZPR5lf\ngxMnTlC6dGmio6Np27Yt1apVw8PD45X3ZTWiqlKpmDt3LgEBAYZj6R6wRqPh+PHjBAYGYmVlRevW\nrXFzc6NBgwZ8/PHHXLp0CRcXF8aNG8e8efOYOnVqpvLHjBlj2DOrSJEiuLq6GmJo6S9sXn6/fPly\n5vPDf0N55xSn13yN6e1TtNTvwPzSDg5pqqCu0Z7GAz5l+aKxNGxQh98PXib0xnki/vFHp9OkPS9t\nPEStSftYVoEyI8GuC4v+d4o+TUOoVLUZGi2EBB/H0lyR9+3LR71//vkHIQSWlpZYWlpy/Pjxt6Z9\nly9fzvXn9zrtTf+DdPfuXYYPH84bk8ub8SkUCvr06YO7uzvlypUjLCyMs2fP4u3tbciRKoR44e7P\nhjKyE0OdP38+lSpVwsfHh3Xr1jFixAgUCgWTJk16o9VSs2bNwsbGxrCsq2XLllnGUE+dOsXMmTPZ\nv38/APPmzcPExIROnTrRunVrrK3T0tuFh4fj6OjI6dOnOXLkCPv27TM8gNmzZ2NpaUnz5s354osv\nOHjwIJC2nHDBggXs3bs3g2ZBjKG+CpPYe1ic+gnzM+swSUl7kfWWhVHX7YnafRC6Mmnhj5iYGDZu\n3MgPP64lKvJ25oKUhSnm0oNJHw3j2401iI2H95uC71Bwq/nfiK0KIdiwYQOPHz/G0dERb2/v/K7S\nW0+OYqg/lMny/MHRkTmOoc6YMcPwbyGEwYlLN5EKhQIhxEt3KMmWh/r5558b/j1o0CBatGhBXFwc\n27Zte637k5OT0el02NrakpSUxIEDBzINBGVl3xs0aMDNmze5c+cOZcqUYcuWLYZBqaioKMN1zw56\ntWvXjoULF6JSqTAzM+Po0aP4+vpSoUIFrl+/TkxMDPb29gQEBFCjRo3sPIoCi76YM6oOs1C1/hTz\nID8szqzF9N45LE/9jOWpn9E61SfVfSD2dXrw8ccf06bLGFoMOozu/gaI3Q8izWtFF0/sP2uYNnEN\nWDaEwoPYd7QbR85Y8fsqQXE7QaoGShRVULjQu2VgVSoVSUlJKBQKEhMTgbQNKiX5TC5PRslqaX12\nyPa0qWcpV64cVapUYc6cOa91fVRUFB4eHtStW5dGjRrRuXNn3n//ffz8/HB2dubUqVN06tSJDh06\nABAZGUmnTp2AtN0jv//+e9q1a0eNGjXo3bu3YYT/WZ4NDRQtWhRfX1/c3d2pV68ebm5udOjQAXt7\ne+bOnUvLli2pU6cOQUFBfPHFFzl5FHnGa8fFzAuhbjCAhDEBxH/8FylNPkRvWQTT8PMU8ptI0bk1\nsd45geomQSz8zBMqr4R6Z8D5C7B4bgvdlDPwcCzcqYkqfApLVwUzZE4q7sNS6D09lb+v6NDrjfO2\nF4QYalJSEn5+fpw7dw61Wk3hwoWN9gdXxlBzQC7HUI8cOYKHhwejR49+441Hs9XlfxEpKSlYW1tn\nK476tlAQu/zPxvCyjUaF+eXdmJ9di9mdU4bD6lKuhDgP5P/Cu3IzxpbOzRQ8uXeSL79eh0jYA2T+\nf2tXxp3Hlv3BrhNm5lasm26OqVJBjfIKStu/+d/pHLXPSHrJycls3LgRrVaLWq3GxsYGGxsbypcv\nb5g7bUy93CKvn+XrkKMu/3KnLM8fHBee4y7/sWPHmD9/PqVKlWLq1KlUrFjx1Tc9hzSoL6EgGlRj\nYfIwBIsz6zC/sAWT5LSFEMLMGnXtbqS6D+JYTAO6jFaA9iEkbIK4daC9k7kgZRGw96Fl+4HE6aqg\nUgvWTrOgklOOOj/5zsaNGw3TpQBKlChBz549s5VZSpKZHBnU77LeLO/g+HsvLHfo0KHs3bsXBwcH\nwyAdpC0SmjBhAjqdjuHDh/PZZ58Z4qYPHz7E19c3W3tJpfNab8ehQ4eyHGXP7tIsScFA71AVVec5\nqNrPwOyqPxZn1mEW+hcW5zZicW4jbe2rMd9tEAsu9SLWdDwUHQeqYxC3FhPV7+j12rSCdHEQ9TN/\nrv0Ze6eGxJj3Z+G6LjjZ2WBfTIFnAxNqVHz7Yqw2NjYGg2pra0u7du2kMc1v3sD1GzJkCOPGjWPQ\noEGGYzqdjrFjx2ZYJOTl5YWlpSU//PAD1tbWJCQkvFEVX+sNGTZs2EsTQZQrVy7LcxLjYvRunKkF\nmjreaOp4YxJzC4vA9Zif24hFzHU+K/oF9St9SZRJV36MHMzVoi0Y80kLdh0P5/LpzRC9EVLvGoqK\nCT8DnGH7tzNwa9KHc5EDsSlaBb/vTKhazoSwSNDqwLk02GWxFL4gdPkhbc7pnTt3KFSoEC1btsyw\nsi839HKDgtjlzxHPxkofnU77/MvFi+Vf6KF6eHhk2r7k2UVCgGGR0M2bN0lMTCQ8PByVSsWNGzde\nueDoebKVbUrybqO3r4iq/Zeo2kzB7Pr+tBkCkX8yoPR2BpTejqpYFdbfGsC9yB5QZiyUHgPxf8HD\nDZjEH0Cv+9dr1cZx7q//A/6PROsmjJw0EK+OXfl2rRWQtkvr4s+hcd38a+urqF27NpcvX8bDw0Pu\nFVVQeHYeql3jtM+/1K37+kmgX7RI6PTp03Ts2NEwNS4lJYVBgwaxdevWbFXx7Q50/QfJE4/D1BxN\nLS8Sh+6g/rcXUbWchN62FFaxN/hQM4Oo2g1YW24CTWzOU7pCC2YtWE1VrzPg9BmYPxfnSv6b0NNj\n+N+CWvBoKqhvcO0f8P4IrtyA8CjBjTuCmFiRd+17hqz0rKys6N27d7Y9lDfVyw3eKe8UjDbKn1Vv\nOzw8nKtXrwJgaWlJdHR0tqsoDarkpeiLlSXl/anEfXaJxP5r0VRuiTkpDLLbzskq3ThbqS2J+1cR\ncd8SyozDtukJhvlugcIdAaWhnJTkWIj7AcIbQ2QXVI+2sysgBe9x0Lg3tP8Q9h0TJKcUnMxXtra2\n+V0FybMYaS2/o6Njho0W7927h5OTEx999BGrV6+mQ4cOdOvWjcDAwGxXURrUt4x8m6epNENTqwuJ\nQ3cQ98l5VC0moC9kj6M6mIUlphFVx41Tnp+wuOM1dpzwBKc1UPkilJiCpc1zXmvKCXg4gmWzaxEb\nOgPUNwm9B/0/gR/XHCc0XHD1H0F0bO4b14Iw7/Vd0MoTjOShPrtISK1Ws2XLFry8vDA1NWXx4sXs\n3r2btWvX4unpme0qSoMqyTZ6u/KktJ9B3OdXSOz7M5qKzbFERaO4TYy41Z5DldowotRabCwLUa7O\nRKbNOweltoJ1J571WjWpj4kJXQFhjSG8KyTsYI2fmsWrBR6D9XQcrefgKYFaU3C8Vkk+8gYGtW/f\nvjRt2pQbN27g7OzM6tWrX7lIyMzMjCJFihgWFWWHHM9DfZd5l+ehGhuT6H+wOLsW07ObME1Jm9eq\nURbicZWejDv0Aduu/psJTBsJCRtRJK5DaMIzF6QsjnuzPpwNHwgWFVEo4LfvFChNFKg1ULY0uDhl\nHQeTFGxyNA91TtYT7Q9OvZWtclevXs2QIUNQq9WkpKSQlJREeHg47u7ur775JciJdRKjoC9RCVXH\nr6HtVMyv7MH8zBrM7vxNyeA1bC2zhlCn+sy/NpiNkT3waDUJz0YTmLXoMKqotZD0B4bVWLpHnD22\nAlgB1u8hig3iu/UdSU214MR5BTbWsPgTBV6tBJYW0qj+pzDiVic2NjYAzJw5E6VSyaNHjyhSpEiO\nDars8r9lFPiYn5kl6no9SRy5l7gJJ0lpOhK9ZREq6M/zY7XxPGlfg63NPkUTFoJK2RbKrAeXS2D3\nOZg+l+Q7+ThEjODIxjo8vjkL1P+QmAyjZgnOX4OQUDhzCf4JA50uj9qXQ2QMNQcYMcG0EIKpU6di\nY2PDjBkzWLlyJfPmzct0nZ+fX4bvS5cuffFOGP8iDaok19CXrIaqyzziplwlyWcF2rLumKoTsA38\nmWmxHkS935CNtUbyXvEwileczKezL+BSbyrYtOPZV1OveUTwue/hTmO41wXit7J6ZzKjZkD7oQpa\n9IOlqyHmcdZ1kbwDGDE5Sq9evRgzZgzFixdn3LhxDB8+/IXZpubOncvu3bsN35s1a8aVK1eyLFfG\nUF+CjKEaH+X9q5ifWYPFha0oUp8u71PZVWNb8mDGHepFvK4waCLhyQZ4sj4t7vp8OWaFcSjXi/vJ\ng8AiLcfros8Ew3pBYhKYKMHaMs+aJXlNchRD/TLrOcEHZ93IcXKUpKQkChUqlOFY27Zt2blzJ8uW\nLaN79+44OzvzzTffZEo7mo70UCV5iq50TVRdF/Hki2DiPzqUtmjAxgGrx9cZlDKF6PdqsbraeNzt\nHlDFbTKzvz2PY731UKg9z84Q0Gniuf/PTxDZHCJaQfxq5q6MZ99R6DBUQfeRsH0fRMVkXRfJW0Yu\np+973pgCeHp68uDBAyZOnMiGDRsYOXLkSzdplB7qSyiIHmpBWetuVLRqzK7txeLMWk78dQzPfxOz\nq0q4svHJYCYc8iZRZwva+xC/BWXCenSpdzKXo7DGtX43LocPBouGoFDQp4ueuZOhaOEXS7+TzzMf\ntF6XHHmo06pmef7g7JAce6jGQHqokvzH1BxN7e4kDv+NxJ4/kOIxFr21HVbRlxmmmcwjz1r4NRiN\nu7OaMR9NYNbis5iX3QWFvIFndnQVyVw+txGi2sH9xhC/nM2/xXD9Fty6C4dPwl9nIDIqy5pICjK5\n7KEaA+mhvoSC6KH+Z9Ck/JtWcA1mt08CoDcrRErzj9n4qD8fLvx3RoDuMSRug4S1oAl+QUGm1Kjd\nltBH/UgxaQ8KM0qVEPyySBTo5CzvKjnyUKdk3qEjnYPzgqWHKpFkiZklmro+JI7wJ27CSbSla2Gi\nScL60DyGXapNWL9+DKv+BybKwtRyH8HyH49TrVkA2AwGhc0zBWm5FrSPlIiBEFEdYr/gQcQ1eo9V\ncCsMklWCoJt6TgbpuRiWym1VIoHxjwl8HMdjlSbfmi95AW+BhyoN6lvGuzxvMis9fclqJIw9QsLQ\nHahdu4LChLIx+/jJuQ+qHnU5OmABNUtEcj28ART/DpyuQ/HlYNHkuYJiIGElPGhGwj8t+XbZT3h9\n6I/nSA2dJ2jo+hHsPKjgkmUUCSXiuKl5ws3o1FxvX24h56HmPXluUMuXL0/t2rWpV6+eYX+ebdu2\nUbNmTZRKJefPn8/y3v3791OtWjUqV67MggULMp1fsmQJJiYmPH78dEJiUFAQTZo0oVatWtSuXZvU\n1LQfiFqtZsSIEVStWpXq1auzc+dOI7dUYlRMTNBWbklSv9XEfX6F5PYz0RWvgHliBHbHF+DpX4d/\n+vTDq9QfmJhYgc1Ailb5nS/nn6VQSV9QPrcFsfoiG1Z/yvnfh8GdkRB/mIQkHXOWmpJ8oQQDbPYQ\nYRdLrELFyWsaQu+/4coBifF4CzzUPF96qlAoOHLkSIYM6K6urvj5+TFy5Mgs78tq24L0pAb37t0j\nICAgw+4BWq2WgQMHsn79elxdXYmNjcXMzAyAOXPmUKpUKUJCQgB49OhRbjTX6BSUfKH5qSdsHUht\n8TGpHmMxDf0LizNrMbu2l4pP9rGr7j6SLB2549wPRZP+nLhdkSSLGVBmKqQcgaQNkLwXSPc8tfBk\nd9rHrDQU82HT971o06gynxY5wpbiXbkbYskHc1P4v0lWVCqlQChMcCwBSmX2f8gyH2oOEAXHcGZF\nvnT5nx8Hq1at2isT+T67bYGZmZlh24J0fH19WbhwYYZ7Dhw4QO3atXF1TZv4XaxYMUxM0pq8evVq\npkyZYri2ePHiOWqTJB8wMUFbqQVJ/X4h7rPLJLf/Ep1deQqlRFDz5iKq/1qP3rd7MLbmdsyVWrBq\nDfa/gFMINRstoqjDc6NSmvvwcDnX93pwpt1XPF59kluqB0TH63CwM2HgXBWbAgSN++uYsVJPaHgB\n6mv+F3gLPNQ8N6gKhYI2bdrQoEEDVq1a9dr3vWjbgoiICAB27dqFk5MTtWvXznDPzZs3USgUtG/f\nHjc3NxYtWgTAkydPAJg2bRpubm706tWLhw8f5rRpeUJBiGkWRL00r3U88ZMCSRi+i9S6PUFpTuHw\nIywvO5zYDtX4ucHndKl+he9mFmbFt0NIdN4HzkuhxEgwtc9QXtTZazB8N6OcWjK1vzPRd46SnKJH\naSZIUcMPWwVDZ+i4HyPQaOHBQ3j8JPfa9ybIGGrek+dd/hMnTlC6dGmio6Np27Yt1apVw8PD45X3\nZZWuTaVSMXfuXAICAgzH0j1gjUbD8ePHCQwMxMrKitatW+Pm5kbt2rUJDw+nWbNmLFmyhKVLlzJ5\n8mTWrVuXqfwxY8ZQtmxZAIoUKYKrq6uhK5X+wubl98uXL0u9V373QFvRgwD77pj+c5Q2qSexvn+Z\nCpr/4Wv+P967X5/k0gPoWd+BTXvjwXFmWkggagUkHMYk5cLT/bH+Jfr4AACWX3ME+11gXpagiyfY\nsEXBvegW7P1TgaX4C5+OMGZ4Mxzs8/95pm+bnN/va1xcHAB3795l+PDhvDG57Im6uLi88LgQwrCv\nXq1atQruWv5Zs2ZhY2PDpEmTAGjZsiVLlix54dzPU6dOMXPmTPbv3w/AvHnzMDExoVOnTrRu3Rpr\na2sgbV8YR0dHTp8+zZEjR9i3bx9r1qwBYPbs2VhZWTFp0iRsbGxITEwE0uKvHTp0yPSg5DzUdwdl\nxCXMz/6K+aXtmKTEA6A3s+a6nRfTLvZl7313GtYXeA2O59uyW4nZfAr15H0vL9RuBBMmTuP7Xwqj\n1T79sQ/vo+fLCYJCVrnZoreTHM1DHVsny/MHv7+U43mohw8fzvJcq1atADh27BjNmzfP8ro89VCT\nk5PR6XTY2tqSlJTEgQMHMiUZyMq+P7ttQZkyZdiyZQubNm2ievXqREU9Xfri4uLCuXPnsLOzo127\ndixcuBCVSoWZmRlHjx7F19cXgC5duvDnn3/SsmVLDh06RM2aNXOv4ZJ8R+dYB5VjHVQdv0rL1xq4\nHrPbJ6gRtZmdpTeTXKMitxp0ZX+5hnxauCVVh/pwttB8ZozO+kfM4x/5dvqPaf8uvg6suwLw02YF\n/bsJ6lSHJBXcug2xcQpK2AkquoCFedZFSl5CLg9KpRvNl/EyYwp5bFCjoqLo3r07kDYC379/f95/\n/338/Pz4+OOPiYmJoVOnTtSrV499+/YRGRnJhx9+yN69ezNsW6DT6Rg2bFiGbQvSeTY0ULRoUXx9\nfXF3d0ehUNCpUyc6dOgAwIIFCxg4cCATJkzAwcGB1atX581DyCHv8trzPNEzt0Zdvzfq+r0xibnF\nqXXzaZtyHOvYW7gGfEOtQ0o0VdsSXrEvNwu3wn3YPQqZpxB7YRqXTm3JutxHg+AR4HAILBoQ8QCK\n2cJX35iyc68JoECpFHRsfoT5XzWltEPuNTGdgriWP0fkQ5c/3cFL7/K/ijw1qC4uLly8eDHT8e7d\nuxsM7bOUKVOGvXv3Gr536NDBYBCzIjQ0NMP3/v37079//0zXlS1blqNHj75u1SXvIHr7iqgbDiau\nyQ+YhQRgfm4DZtcPYB68nwrB+/mokD1DPXqSUr8vp6JXMH7Rcm7dCoM73UAT8eJCH7YG84acONKH\nfQe82bn36WCXTqdgzx9KGjY04aOh+jxq5TtELgcnf/755wzfHzx4wLJly+jZs+drlyHX8r8EGUP9\n76FIeIj5xa1YBG5A+TAkwzlVGXfOeGxGWBelXGnB2vXHmDW1x0tKswCLzmDRD8zbgCLNfylaRPDX\nLjWOpXOxIQWUHMVQR2T9Wzz445uV+yoePHhAu3btuHTp0mtdL/eUkkieQdg6kOoxltT3PkIZfh6L\ncxuxOJ0WDrKKPEvzHTXQVG+Pul4fhg9oRZESsUxbqCb50TZI3gLqv0GkzxBIhdQdaR+FA1j2Bst+\nPImrTcpzK1pDwxRcC1EQG6ugrLOgRhU9JTLO5JLkw8R+CwsLwsLCXvt6aVDfMt65mGZB1VMo0Dm7\nkezsRnKnOdhsGIwy4iKKpBjML+/C/PIurG1KMLqON+//0Id/NH2xsu5HUZsYDh3YzrpfN3M9OOhp\neeIhqJaDajmWhVzx29GLgQN8KFmyJOeDFPh8YMGTuKcG473GOr5foKGs05t3IGUMNXvMmjULIQQK\nhQIhBCqVij179tC+ffvXLkMaVInkVZhZkvhB2oCUIi4C8wvbsDi/CWX0TSxP/I+a/I+qpWqgrtcb\ndfmeVB41ilGjRvHtymC+mrMVUjeD/ulMlJSky8ydc5n5876kWTNPbtztx5O4rhmyZB0/pcRvr47x\nI2UOAQO5HJy8detWhllGNjY2jB8/ng8++OC1y5Ax1JcgY6iSLBECZcRFzM9vxvzSDkyS0xLyCEVa\nEpfUen144tKRkxetWbxCcO3qUWyUG4h96I9anfKCAq3B3AvM+4JpK1CYUspB8OfuFEqWyNum5SY5\niqF+kPUWzwfXnC0Q+VClhyqRvAkKBTqneqic6qHq+HXaLIELWzC7/gdmNw5hduMQhSxs6eralRYz\n+/DIzoMiRVqg1cSze/duNm/ezMmTJ58pMBnUm9M+Cgcw9yEhrg9abU3gxV3diEgFqhSBXTGwK5Yn\nrc5fZHIUibF5W9bW/6f0TM3R1OxE0oB1xE25RrLXQrRO9VGkJmARuJ6Sv3am6jo37I7P4/LxPxgw\nYAD+/v5cunSJ8RNmoDR/bj61eAipK0l60JxuXo1YtGhRhnmQUQ/hh59Nad7JkoatrfHqZ8HhYyak\nqnOhbQUJmRxFIvlvIQoVJ7XJcBI+OkjcxL9ReU5EX6QMytgwrA4vwmbLSGz/1wGzq3txdnLiyYKt\nBQAAGntJREFUyxkT+HXDSUyK/g0W40FRKkN5t279w7x586hfvz7t27fnxx9/Ycn3cUydbU7skzRD\ncu26kp4fWHAm8B3/Ob8FyVFkDPUlyBiqxCjodZiGHk+Lt17Zg0KTDIDOrjzquj6oavXkQnQVAv5U\nEnJTTxn7I4Td3sLRP/cY8k1kxBRM2/8bb+0IirSkAc0aadn0sxqbzLshFxhyFEPt1zjL8wc3nspx\nDDUoKChTxrrsImOoEkluY6JEW6kF2kotSO66CIvA9VgeW47y8R2sDi/G6vBiWjjVp0mDnqiHdkfY\nNgeak5y8iH379rF9+3YOHTqEVps+v1ULWv+0D4XBrDuY9+XiZQ/i4inQBjVH5HIMddOmTbi6umaZ\n2e51eMf7CO8eb2WMUeo91Tt7kdRmo4j7LIiE4b+R6tYPYWGDafh5rP2nUGR+TWxW98T8zBpsY67h\n3a0rmzZt4tq1ayxcuJCaNZ8f6Y4HzVpIao/6URW+XzaTa9euvbBtDx7CkeMm7Nit5PjfJsS8HZtU\nPCWXY6grVqygVKlS9OzZkxUrVhAc/HQX3ZdtzfQs0kOVSPIDEyXais3RVmxOctdFmAXvx/ziNsxC\nDhpmCQDobUuirt2DkvV7M3zYMPr3H86I8ffYu2cbaDaB/pahSI06gv/7v2X83/8to0aNGri7u+Pi\n4oKjoyM3byn4YLQFwSFKw/WN3bWsWKLGpdxbEvXL5Wp+++239OjRg9OnT/P333/Tr18/4uLiaNKk\nCQkJCezevfuVZcgY6kuQMVRJXqNIeoR50G8ow05jeu8cyse3Ded0DlVQ1+3JnZI+LN1aidUblGhT\nArFUbsRUv43ExMwup0KhoEmT90hS9+XSdR9QFMlwftRQNV9N1WCaR65VjmKoPs2yPH9w+wmjz0P9\n448/8PDwICAggG+++ea1kinJLr9EUoBImyUwjOQ+PxI/OZD40QdIafIh+kLFUT68gdWBOVT/tR4r\nHFpxc8lyju0oxZkT87h16xqbN2/G29sbK6unma2FEJw8+ReXAsdAojOo+oF2D4i0OVarN5gRHlFw\nph29lDyeNnX79m2sra3p2rUrgwYNeq17pEF9y3jnY4xS7ykKBbqyDVB5LSBuyjUSBm8htY4Pwswa\ns3tnKf/3Z7y3qzrVDvhgfXUX77dszqpVq7h+/TorV66kTp06hk0p00gF7Q5Q+UBiOUgZR2ry36g1\nb0knVSiy/hiBcePGUahQIRo3bkzHjh05e/YsanXaH5707edfhYyhSiRvA0oztNXaoq3WlmR1EmbX\n/o253jxsiLnqrYqirtcLZd1e9OndGycnJypWrMiv63ey9NvtpKqeTUH3GDQ/guZHenqXo1cvH3r1\n6kXlypUzyAoB128ouHTFhOgYBbWq66lRXZ8/y2FzeQJ/iRIl8PPz4/Hjx7i4uFC6dGn69evHgAED\nXjt9n4yhvgQZQ5UUdNJjruaB6zGNfPqj1xWvgLqON+q6PuhLVObYCRN8+oeiTdkMms0g7r6wvHr1\n6tGzZ0969OiBg4MDR/4yoe8wS1JTnxqzlh5avl2gxtkx+6YjRzFUr6y3Hzm4+1iOY6hr167l/fff\np3Tp0hmOffPNNyxbtowWLVq8sgxpUF+CNKiSt4m0ZC1bMA/ywyTx6bbo2jJ1SK3tzQVzHzYfdibw\nvAIXp79IfLKZv479ZtiVNENZSiVNmrbiwrWhJKV2BkXGjbAWz0ll6ABtpvteRY4MauesDdpB/6MF\nIjmKjKG+ZRTomJ/Uy1c9nWNdVF3mEff5FRKG7eSATWuEhS2mkZcotH8GzfbUZKlDBwI+WcUP86qw\nbu1Srl+/zrp16+jcuTPm5k+Npk6n4/hfASQ96gtJ5SFlEuie5nf9aY0ZcfG51pQXk8sxVGOQ5wa1\nfPny1K5dm3r16tGwYUMAtm3bRs2aNVEqlS+dQLt//36qVatG5cqVWbBgQabzS5YswcTEhMePHxuO\nBQUF0aRJE2rVqkXt2rUzBZe9vLxwdXU1Uutyn/S91qWe1MsSpSnaSp4E2rXiydQQEvuvQV2zMyjN\nMQs9ju2uiRSZW41C6/phE+xP5/dbsm7dOq5fv87SpUtp2rRpxvLEI9B8D8nukNQY1D+QmvqYPO/b\nvgXJUfJ8UEqhUHDkyBHs7OwMx1xdXfHz82PkyJFZ3qfT6Rg7diwHDx7E0dERd3d3vLy8DDuf3rt3\nj4CAAMqVK2e4R6vVMnDgQNavX4+rqyuxsbGYmZkZzu/cuRNbW9scLTXLa17UPZN6Ui9LLTNLNLW8\n0NTyQqGKw+yqP+aXtmN66y/Mg/djHrwfYWaNpkYHzOr4MLh/XwYPHkxYWBgrV27ip182IXT3nhaq\nvwCpF7gX8hmTfDvSv39/WrRogVKpzKT/5Ancum1CsgqcyghcyufQAr8Fwcl86fI/H7atVq0aVapU\neek9Z86coVKlSpQvXx4zMzP69OnDrl27DOd9fX1ZuHBhhnsOHDhA7dq1DR5osWLFDNNIEhMTWbp0\nKdOmTctUH4nkXURYFUHdoD+Jw/yIm3KV5C7z0To3QKFJxvzSDmzW9aXI3OpY+02kou4e8+d+yuq1\nQSgK7QXT3oCFoSytNhU/Pz98fHyoW7cuc+bM4fbtp4sQgkMU9BxkSVsva7r2tsazozUbt+bQf3sL\nPNQ8N6gKhYI2bdrQoEEDVq1a9dr3RURE4OzsbPju5ORERETaVr67du3CyckpU6aYmzdvolAoaN++\nPW5ubixatMhwbvr06UyePBlra+sctihvuXv3xaOzUk/qZUdL2JYktekIEsYcIO6TC6jaTUdXsjom\nqlgszqzFdpUXRRfVwUcxm5ObSzLzq1UM+vAmg4YsoWbNehnKioiIYMmSJbi5ueHl5cWPqzYz6EMd\n5y48NaAJCQrGTrJ4vhrZ4y2IoeZ5l//EiROULl2a6Oho2rZtS7Vq1fDw8HjlfVl1y1UqFXPnziUg\nIMBwLN3j1Gg0HD9+nMDAQKysrGjdujVubm7Y2dkRGhrK0qVLMyTufRGvmxQhrxg+fHie1knqvb16\n2dIq3AKaZzWK/oT3Gp7hvYYAdRjUv84ri2vgdvF1q/naHAw4lOU507xaO/sK8rwW6XO8SpQoQffu\n3Tlz5sxrGVRHR0fu3Xsay7l37x5OTk7cunWLO3fuUKdO2v/k8PBw3NzcOH36NM7OzjRv3twQr+3Y\nsSPnz5/HxsaGwMBAXFxc0Gq1PHz4kFatWnH48OEMmgVhGoZEInmLfosiD0lKShLx8fFCCCESExNF\n06ZNxR9//GE47+npKQIDA194r0ajERUqVBC3b98Wqampok6dOuLatWuZritfvrx49OiREEKI2NhY\nUb9+fZGcnCw0Go1o06aN+P333zNcf+fOHVGrVi1jNVEikfyHydMYalRUFB4eHtStW5dGjRrRuXNn\n3n//ffz8/HB2dubUqVN06tSJDh06ABAZGUmnTp2ANJf++++/p127dtSoUYPevXsbRvif5dnQQNGi\nRfH19cXd3Z169erh5uZmKDsd8e8+3BKJRJJT5EopiUQiMRJypZTkrSevfIKQkBA5xU7yUpQzZ86c\nmd+VkBiXixcvsmDBAh49eoS9vT22tra5qhcUFMR3331HVFRUnuhFRETQtWtXtFot9evXz/WwTVBQ\nEO3atUOpVOLq6oqlpWWuaaXrjRo1itDQUBISEjJlgDI2ef2+GJubN29y7Ngxtm7dSuHChTMkN8lr\npIf6jnHixAnat2+Pk5MTu3fvZs6cOfz5558A6PV6o+t999139OzZkyJFirBu3TpWrVpFTEyM0XWe\nJTIykrt377J8+XJCQkIwMTFBp9PlilZERAQTJ07k448/ZsqUKRQtWhTIPa/Y398fb29vWrRoQWpq\nKgcOHCA5OTnX2pfX70tu4O/vj6OjI76+vixevDh/K5OPA2KSXGDr1q1i/vz5Qoi0GQw//fST8PLy\nEtHR0UIIIfR6vdG0oqOjRe/evcXFixeFEEKcOHFCtGrVSjx+/NhoGs+j1+tFcHCwmDNnjlixYoVo\n2bJlpvPGJDIyUgwbNkwIIYROpxM7d+4UoaGhIikpyeh6er1eTJkyRfzyyy9CCCGOHj0qPvzwQ6HT\n6YRGozG6nhB5+77kNlevXhVffPFFvtZBeqjvAPHx8Wg0GgBSUlLYvHkzAOXKlaNjx45UrlyZb775\nBsh6gUR29VJTU7G3t2fOnDnUqFEDrVZL06ZNMTExITQ0NMcaz+ult0+hUFCoUCGOHDlCjx49sLOz\n46uvvmLPnj2G88bUu3fvHsHBwURGRuLl5cXq1auZNm2aIe+EsfTUajUKhQI7OzumTJnCli1bGDJk\nCMHBwXzwwQd89dVXRtOLiooiKSkJyJv3Ja/w8/Nj6tSp+VuJfDXnkhyRkpIiBg4cKLy9vUXnzp0N\nXoy3t7dYsGCBECJt/u6ff/4pxowZI6Kiooym16VLF4NeOvHx8aJx48YiLCwsRzqv0rtx44b4/PPP\nhRBCbNq0SVhbW4s2bdoY7jG2Xvfu3UXdunXFmjVrhBBCREVFCU9PT7Fly5acNC/L/3/btm0Tw4YN\nEytWrBBCCHHy5EnRtWtXcfjw4RzrDRgwQHTo0EE0b97c8Kx8fHxy5X3JS3bt2iXi4+PFjRs38rUe\n0kN9SwkNDeW9996jRIkSrFu3DhMTEwYMGACk7Y1z6NAhjh49iqmpKVWqVOHGjRsZ8l0aQ2/gwIGG\n81qtlsePH2Nvb0/ZsmUJCQlhw4YNJCcnG719Dg4O/PPPP4wePZrp06fj7e1NfHxack4LizdbL/4i\nvb59+wJpceKwsDDu379v0G/UqBElS5Z8I60X6SmVSoNe9+7dCQ4OxsXFBYAGDRpgZ2eXIUNbdrl9\n+zaNGzfG3t6e33//HVtbW2bPng3A2LFjOXToEEeOHDHa+5KX+Pn58fXXX9OjRw+2bt2av5XJV3Mu\neSM0Go24ffu2+PXXXw3HoqOjRfPmzcWjR49ESkqKWL16tahataq4cOGC+OGHH4Snp6cIDw83ql6L\nFi1EVFSUIc5248YN0aNHD7Fs2TJRtWpVsWnTJqPrPXjwQMTHx4sRI0aIdu3aidDQUCGEEAMHDnxj\nD+5levfv3xdCCLF582ZRtmxZcerUKbFixQpRq1atLFf1GUNvxYoVonXr1iI2NlasW7dO1K9fX1y+\nfPmN9NRqtXjy5Ik4duyY4dgnn3wili9fLi5duiSEEGLNmjWiatWq4vz58zl+X4zFlStXxM8//ywm\nTpwoduzYIbZv3y769+8vAgICxO+//y4GDBggbt68ma91fB5pUN8irly5Itzd3cWUKVOEECLDwMGF\nCxdEw4YNM1y/ePFiMWHCBNG0adMXLtPNqV6jRo0yDFrs2rVLKBQK0atXLxEcHJyr7Xv+h6RWq3NF\nT6/XG9q4fv16sWjRItG5c2dx/fr1XNMTIm1p9ujRo0W3bt3Ee++9lyO9zz77zHBMq9WKr7/+WpQq\nVUrMnDlTlC9fXgQEBAghhFiwYEGO3hdjs2/fPnHu3LkMA4+VKlUSt27dEkIIMWrUKLF37978qt4L\nKRgpWiSv5LvvvmPNmjU4OztjZmaGXq/H3t4eSBs4KFq0aIb0hgCTJk3KVT0nJ6cMgxaNGzfm66+/\nfqOBgey2r1KlSkBaqMHU1DRD4nBj6j3bvv79+wMwefLkXGtful6hQoVYuXIlMTExhuveVM/S0hKd\nTmdIAt2zZ0+mTZsGQOHChfnqq69o06YNn376abZ1cpP27duzYMECQ6jn1q1bVKhQgQoVKgBp28nM\nmzcvP6uYmfy26JJXM336dNGpUyfx6NEjERQUJKpXr24YwNDpdEIIIfbu3Ss++ugjodPpxJAhQ8Ta\ntWvzVC99wOZdbd+78jzTPeD0/0ZFRYmBAweK5OTkN9bLTdq0aSPu3bsnhBDihx9+EEuWLBFCpE3R\nGzBggLhy5YrhfEFADkoVYI4fP050dDRjxozB398fOzs7XF1dKVu2LL/88guAYQeCkJAQrl27RocO\nHVAqlYa/6nmh9/wAVV7o5WX78vp5KpXKXHue6R6wQqHgxIkTdOvWjcqVK2NlZZV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"text": [ "" ] } ], "prompt_number": 452 }, { "cell_type": "code", "collapsed": false, "input": [ "print('Done.')" ], "language": "python", "metadata": {}, "outputs": [ { "output_type": "stream", "stream": "stdout", "text": [ "Done.\n" ] } ], "prompt_number": 453 }, { "cell_type": "heading", "level": 1, "metadata": {}, "source": [ "Conclusion" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "As you can see, complicated analytic calculation of the Jacobian Matrices, but it works pretty well.\n", "\n", "Let's take a look at the trajectory on Google Earth:" ] }, { "cell_type": "heading", "level": 2, "metadata": {}, "source": [ "Write Google Earth KML" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Coordinates and timestamps to be used to locate the car model in time and space\n", "The value can be expressed as yyyy-mm-ddThh:mm:sszzzzzz, where T is the separator between the date and the time, and the time zone is either Z (for UTC) or zzzzzz, which represents \u00b1hh:mm in relation to UTC." ] }, { "cell_type": "code", "collapsed": false, "input": [ "import datetime\n", "car={}\n", "car['when']=[]\n", "car['coord']=[]\n", "car['gps']=[]\n", "for i in range(len(millis)):\n", " d=datetime.datetime.fromtimestamp(millis[i]/1000.0)\n", " car[\"when\"].append(d.strftime(\"%Y-%m-%dT%H:%M:%SZ\"))\n", " car[\"coord\"].append((lonekf[i], latekf[i], 0))\n", " car[\"gps\"].append((longitude[i], latitude[i], 0))" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 454 }, { "cell_type": "code", "collapsed": false, "input": [ "from simplekml import Kml, Model, AltitudeMode, Orientation, Scale" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 455 }, { "cell_type": "code", "collapsed": false, "input": [ "# The model path and scale variables\n", "car_dae = r'http://simplekml.googlecode.com/hg/samples/resources/car-model.dae'\n", "car_scale = 1.0\n", "\n", "# Create the KML document\n", "kml = Kml(name=d.strftime(\"%Y-%m-%d %H:%M\"), open=1)\n", "\n", "# Create the model\n", "model_car = Model(altitudemode=AltitudeMode.clamptoground,\n", " orientation=Orientation(heading=75.0),\n", " scale=Scale(x=car_scale, y=car_scale, z=car_scale))\n", "\n", "# Create the track\n", "trk = kml.newgxtrack(name=\"EKF\", altitudemode=AltitudeMode.clamptoground,\n", " description=\"State Estimation from Extended Kalman Filter with CTRV Model\")\n", "gps = kml.newgxtrack(name=\"GPS\", altitudemode=AltitudeMode.clamptoground,\n", " description=\"Original GPS Measurements\")\n", "\n", "# Attach the model to the track\n", "trk.model = model_car\n", "#gps.model = model_car\n", "\n", "trk.model.link.href = car_dae\n", "#gps.model.link.href = car_dae\n", "\n", "# Add all the information to the track\n", "trk.newwhen(car[\"when\"])\n", "trk.newgxcoord(car[\"coord\"])\n", "\n", "gps.newwhen(car[\"when\"][::5])\n", "gps.newgxcoord((car[\"gps\"][::5]))\n", "\n", "# Style of the Track\n", "trk.iconstyle.icon.href = \"\"\n", "trk.labelstyle.scale = 1\n", "trk.linestyle.width = 10\n", "trk.linestyle.color = '7f00ff00' # aabbggrr\n", "\n", "gps.iconstyle.icon.href = \"\"\n", "gps.labelstyle.scale = 0\n", "gps.linestyle.width = 4\n", "gps.linestyle.color = '7fff0000'\n", "\n", "\n", "# Saving\n", "#kml.save(\"Extended-Kalman-Filter-CTRV.kml\")\n", "kml.savekmz(\"Extended-Kalman-Filter-CTRV-Adaptive.kmz\")" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 456 }, { "cell_type": "code", "collapsed": false, "input": [ "print('Exported KMZ File for Google Earth')" ], "language": "python", "metadata": {}, "outputs": [ { "output_type": "stream", "stream": "stdout", "text": [ "Exported KMZ File for Google Earth\n" ] } ], "prompt_number": 457 }, { "cell_type": "markdown", "metadata": {}, "source": [ "Works just fine!\n", "\n", "" ] } ], "metadata": {} } ] }