Here I implement and test different models of Kalman filter.
This module should simulate sensor observations of the values that has been generated in env module.
I'm going to use simple Kalman filter model that can change value of process variance depending on that how large aposteri error is.
Welcome to SDC console!
>> sdc
SDC CONSOLE APP
SDC stands for Self-Driving Cars.
So this app allows you to simulate some modules of SDC within a console.
All modules can be called by:
sdc module --mode
All information modules can be called by:
sdc -commands
sdc -help
Main modules:
imu | Inertial Measurement Unit (GPS, gyro, accelerometer)
gps | GPS
gyro | Gyroscope
accel | Accelerometer
lidar | Lidar
fuzzy | Fuzzy Controller
nn | Neural Network
test | Unit-tests for each module
exit | Exit
>> sdc gps
sdc gps:
--p | GPS (position)
--v | GPS (velocity)
--a | GPS (acceleration)
>> sdc gps --p
1-DIMENSIONAL SPACE
Default parameters (yes or no)? no
INITIAL DATA
Truth value: 450
Initial guess: 430
Velocity (m/s): 0.0
Time (sec): 40
Measures of central tendency of error:
median = 4.0, mean = 5.0
2-DIMENSIONAL SPACE
Default parameters (yes or no)? yes
Real coordinates (at the beggining): (163.0, 55.0)
Initial coordinates: (152.0, 68.0)
Velocity_x: 0.0 m/s
Velocity_y: 0.0 m/s
Time (sec): 60
Measures of central tendency of error:
median_X = 12.683, mean_X = 12.665
median_Y = 8.382, mean_Y = 9.078
>> sdc gps --v
1-DIMENSIONAL SPACE
Default parameters (yes or no)? y
Truth value: 45.0
Initial guess: 55.0
Velocity (m/s): 2.0
Time (sec): 50
Measures of central tendency of error:
median = 10.0, mean = 11.0
2-DIMENSIONAL SPACE
Default parameters (yes or no)? no
INITIAL DATA
Truth value X: 43
Truth value Y: 27
Initial guess X: 30
Initial guess Y: 45
Velocity X (m/s): 3.2
Velocity Y (m/s): 1.7
Time (sec): 40
Measures of central tendency of error:
median_X = 9.112, mean_X = 12.966
median_Y = 7.239, mean_Y = 7.926
>> sdc gps --a
1-DIMENSIONAL SPACE
Default parameters (yes or no)? yeah
Default parameters (yes or no)? y
Truth value: 45.0
Initial guess: 55.0
Velocity (m/s): 2.5
Time (sec): 50
Measures of central tendency of error:
median = 6.0, mean = 7.0
2-DIMENSIONAL SPACE
Default parameters (yes or no)? y
Real coordinates (at the beggining): (163.0, 55.0)
Initial coordinates: (152.0, 68.0)
Velocity_x: 2.5 m/s
Velocity_y: 4.5 m/s
Time (sec): 60
Measures of central tendency of error:
median_X = 23.735, mean_X = 23.575
median_Y = 9.919, mean_Y = 11.518
