Class UnscentedKalmanFilter<T extends Measurement>
- java.lang.Object
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- org.hipparchus.filtering.kalman.unscented.UnscentedKalmanFilter<T>
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- Type Parameters:
T
- the type of the measurements
- All Implemented Interfaces:
KalmanFilter<T>
public class UnscentedKalmanFilter<T extends Measurement> extends Object implements KalmanFilter<T>
Unscented Kalman filter forunscented process
.- Since:
- 2.2
- See Also:
- "Wan, E. A., & Van Der Merwe, R. (2000, October). The unscented Kalman filter for nonlinear estimation. In Proceedings of the IEEE 2000 Adaptive Systems for Signal Processing, Communications, and Control Symposium (Cat. No. 00EX373) (pp. 153-158)"
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Constructor Summary
Constructors Constructor Description UnscentedKalmanFilter(MatrixDecomposer decomposer, UnscentedProcess<T> process, ProcessEstimate initialState, UnscentedTransformProvider utProvider)
Simple constructor.
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Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method Description ProcessEstimate
estimationStep(T measurement)
Perform one estimation step.ProcessEstimate
getCorrected()
Get the corrected state.ProcessEstimate
getPredicted()
Get the predicted state.UnscentedTransformProvider
getUnscentedTransformProvider()
Get the unscented transform provider.ProcessEstimate
predictionAndCorrectionSteps(T measurement, RealVector[] sigmaPoints)
This method perform the prediction and correction steps of the Unscented Kalman Filter.
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Constructor Detail
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UnscentedKalmanFilter
public UnscentedKalmanFilter(MatrixDecomposer decomposer, UnscentedProcess<T> process, ProcessEstimate initialState, UnscentedTransformProvider utProvider)
Simple constructor.- Parameters:
decomposer
- decomposer to use for the correction phaseprocess
- unscented process to estimateinitialState
- initial stateutProvider
- unscented transform provider
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Method Detail
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estimationStep
public ProcessEstimate estimationStep(T measurement) throws MathRuntimeException
Perform one estimation step.- Specified by:
estimationStep
in interfaceKalmanFilter<T extends Measurement>
- Parameters:
measurement
- single measurement to handle- Returns:
- estimated state after measurement has been considered
- Throws:
MathRuntimeException
- if estimation fails
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predictionAndCorrectionSteps
public ProcessEstimate predictionAndCorrectionSteps(T measurement, RealVector[] sigmaPoints) throws MathRuntimeException
This method perform the prediction and correction steps of the Unscented Kalman Filter.- Parameters:
measurement
- single measurement to handlesigmaPoints
- computed sigma points- Returns:
- estimated state after measurement has been considered
- Throws:
MathRuntimeException
- if matrix cannot be decomposed
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getPredicted
public ProcessEstimate getPredicted()
Get the predicted state.- Specified by:
getPredicted
in interfaceKalmanFilter<T extends Measurement>
- Returns:
- predicted state
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getCorrected
public ProcessEstimate getCorrected()
Get the corrected state.- Specified by:
getCorrected
in interfaceKalmanFilter<T extends Measurement>
- Returns:
- corrected state
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getUnscentedTransformProvider
public UnscentedTransformProvider getUnscentedTransformProvider()
Get the unscented transform provider.- Returns:
- unscented transform provider
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