{
"cells": [
{
"cell_type": "markdown",
"metadata": {},
"source": [
"[Table of Contents](./table_of_contents.ipynb)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Designing Nonlinear Kalman Filters"
]
},
{
"cell_type": "code",
"execution_count": 1,
"metadata": {},
"outputs": [],
"source": [
"%matplotlib inline"
]
},
{
"cell_type": "code",
"execution_count": 2,
"metadata": {},
"outputs": [
{
"data": {
"text/html": [
"\n",
" \n",
" "
],
"text/plain": [
""
]
},
"execution_count": 2,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"#format the book\n",
"import book_format\n",
"book_format.set_style()"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Introduction"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"** Author's note: I was initially planning to have a design nonlinear chapter that compares various approaches. This may or may not happen, but for now this chapter has no useful content and I suggest not reading it. **"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"We see that the Kalman filter reasonably tracks the ball. However, as already explained, this is a silly example; we can predict trajectories in a vacuum with arbitrary precision; using a Kalman filter in this example is a needless complication."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### Kalman Filter with Air Drag"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"I will dispense with the step 1, step 2, type approach and proceed in a more natural style that you would use in a non-toy engineering problem. We have already developed a Kalman filter that does excellently at tracking a ball in a vacuum, but that does not incorporate the effects of air drag into the model. We know that the process model is implemented with $\\textbf{F}$, so we will turn our attention to that immediately.\n",
"\n",
"Notionally, the computation that $\\textbf{F}$ computes is\n",
"\n",
"$$x' = Fx$$\n",
"\n",
"With no air drag, we had\n",
"\n",
"$$\n",
"\\mathbf{F} = \\begin{bmatrix}\n",
"1 & \\Delta t & 0 & 0 & 0 \\\\\n",
"0 & 1 & 0 & 0 & 0 \\\\\n",
"0 & 0 & 1 & \\Delta t & \\frac{1}{2}{\\Delta t}^2 \\\\\n",
"0 & 0 & 0 & 1 & \\Delta t \\\\\n",
"0 & 0 & 0 & 0 & 1\n",
"\\end{bmatrix}\n",
"$$"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"which corresponds to the equations\n",
"\n",
"$$ \n",
"\\begin{aligned}\n",
"x &= x + v_x \\Delta t \\\\\n",
"v_x &= v_x \\\\\n",
"\\\\\n",
"y &= y + v_y \\Delta t + \\frac{a_y}{2} {\\Delta t}^2 \\\\\n",
"v_y &= v_y + a_y \\Delta t \\\\\n",
"a_y &= a_y\n",
"\\end{aligned}\n",
"$$"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"From the section above we know that our new Euler equations must be\n",
"\n",
"$$ \n",
"\\begin{aligned}\n",
"x &= x + v_x \\Delta t \\\\\n",
"v_x &= v_x \\\\\n",
"\\\\\n",
"y &= y + v_y \\Delta t + \\frac{a_y}{2} {\\Delta t}^2 \\\\\n",
"v_y &= v_y + a_y \\Delta t \\\\\n",
"a_y &= a_y\n",
"\\end{aligned}\n",
"$$"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Realistic 2D Position Sensors"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"The position sensor in the last example are not very realistic. In general there is no 'raw' sensor that provides (x,y) coordinates. We have GPS, but GPS already uses a Kalman filter to create a filtered output; we should not be able to improve the signal by passing it through another Kalman filter unless we incorporate additional sensors to provide additional information. We will tackle that problem later. \n",
"\n",
"Consider the following set up. In an open field we put two transmitters at a known location, each transmitting a signal that we can detect. We process the signal and determine how far we are from that signal, with some noise. First, let's look at a visual depiction of that."
]
},
{
"cell_type": "code",
"execution_count": 3,
"metadata": {},
"outputs": [
{
"data": {
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\n",
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