diff options
Diffstat (limited to '')
| -rw-r--r-- | kalman_init.awk | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/kalman_init.awk b/kalman_init.awk index 38cb66c..57f7bbd 100644 --- a/kalman_init.awk +++ b/kalman_init.awk @@ -54,22 +54,22 @@ NF != 0 { ### kalman gain if (count[n] <= 1) { - KG[n] = 1 + Gk[n] = 1 est_err[n] = sqrt(diff[n]*diff[n]) + 2.0*sqrt(diff2[n]*diff2[n]) est_err_last[n] = sqrt(diff[n]*diff[n]) + 2.0*sqrt(diff2[n]*diff2[n]) } else - KG[n] = est_err_last[n]/(est_err_last[n] + meas_err[n]) + Gk[n] = est_err_last[n]/(est_err_last[n] + meas_err[n]) ### update estimate and estimated error - est[n] = est_last[n] + KG[n]*($n - est_last[n]) - est_err[n] = (1.0 - KG[n])*est_err_last[n] + est[n] = est_last[n] + Gk[n]*($n - est_last[n]) + est_err[n] = (1.0 - Gk[n])*est_err_last[n] ### visual check printf "meas: " OFS OFMT OFS OFMT OFS OFMT, $n, meas_err[n], count[n] printf "d1: " OFS OFMT, diff[n] printf "d2: " OFS OFMT, diff2[n] - printf "est: " OFS OFMT OFS OFMT OFS OFMT, est[n], est_err[n], KG[n] + printf "est: " OFS OFMT OFS OFMT OFS OFMT, est[n], est_err[n], Gk[n] ### update previously remembered values last2[n] = last[n] |