{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "## Filter - Kalman" ] }, { "cell_type": "code", "execution_count": 1, "metadata": {}, "outputs": [ { "name": "stderr", "output_type": "stream", "text": [ "Loading required package: daltoolbox\n", "\n", "Registered S3 method overwritten by 'quantmod':\n", " method from\n", " as.zoo.data.frame zoo \n", "\n", "\n", "Attaching package: ‘daltoolbox’\n", "\n", "\n", "The following object is masked from ‘package:base’:\n", "\n", " transform\n", "\n", "\n", "Loading required package: tspredit\n", "\n" ] } ], "source": [ "# TSPredIT\n", "# version 1.0.767\n", "\n", "source(\"https://raw.githubusercontent.com/cefet-rj-dal/tspredit/main/jupyter.R\")\n", "\n", "#loading TSPredIT\n", "load_library(\"daltoolbox\") \n", "load_library(\"tspredit\") " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Series for studying with added noise" ] }, { "cell_type": "code", "execution_count": 2, "metadata": {}, "outputs": [], "source": [ "data(sin_data)\n", "y <- sin_data$y\n", "noise <- rnorm(length(y), 0, sd(y)/10)\n", "spike <- rnorm(1, 0, sd(y))\n", "sin_data$y <- sin_data$y + noise\n", "sin_data$y[10] <- sin_data$y[10] + spike\n", "sin_data$y[20] <- sin_data$y[20] + spike\n", "sin_data$y[30] <- sin_data$y[30] + spike" ] }, { "cell_type": "code", "execution_count": 3, "metadata": {}, "outputs": [ { "data": { "image/png": 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oE0coN27idlI/hZfje05yOd8o650JlPV6M6dgWk1S9Pa9DOMEDFG1vaQdInGznq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\nAElFTkSuQmCC", "text/plain": [ "plot without title" ] }, "metadata": { "image/png": { "height": 420, "width": 420 } }, "output_type": "display_data" } ], "source": [ "library(ggplot2)\n", "plot_ts(x=sin_data$x, y=sin_data$y) + theme(text = element_text(size=16))" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### kalman filter" ] }, { "cell_type": "code", "execution_count": 4, "metadata": {}, "outputs": [ { "data": { "image/png": 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DoA04EutrY/hYdfFhnLFGJiYoC9FRWK5GTRUYhIUtRqNdDZxqYmKEh0lCbh4eHR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\nmDH7NqVdu3Yvv/zyggUL4uPju3btyuxrVWJiYkFBQbNmzT766CPzSEVFhYh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"text/plain": [ "plot without title" ] }, "metadata": { "image/png": { "height": 420, "width": 420 } }, "output_type": "display_data" } ], "source": [ "filter <- ts_fil_kalman(H = 0.1, Q = 1)\n", "filter <- fit(filter, sin_data$y)\n", "y <- transform(filter, sin_data$y)\n", "plot_ts_pred(y=sin_data$y, yadj=y) + theme(text = element_text(size=16))" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [] } ], "metadata": { "kernelspec": { "display_name": "R", "language": "R", "name": "ir" }, "language_info": { "codemirror_mode": "r", "file_extension": ".r", "mimetype": "text/x-r-source", "name": "R", "pygments_lexer": "r", "version": "4.3.3" } }, "nbformat": 4, "nbformat_minor": 4 }