com.flashphoner.fpwcsapi.util

Class KalmanFilter

java.lang.Object

com.flashphoner.fpwcsapi.util.KalmanFilter

public class KalmanFilter
extends java.lang.Object

Simple implementation of the Kalman Filter for 1D data. Originally written in JavaScript by Wouter Bulten Now rewritten into Java 2017

See Also:

https://github.com/wouterbulten/kalmanjs

Constructor Summary

Constructors

Constructor and Description
KalmanFilter(double R, double Q) Constructor
KalmanFilter(double R, double Q, double A, double B, double C) Constructor

Method Summary

Modifier and Type	Method and Description
double	filter(double measurement) Filters a measurement
double	filter(double measurement, double u) Filters a measurement
double	lastMeasurement() Set the last measurement.
void	setMeasurementNoise(double noise) Sets measurement noise
void	setProcessNoise(double noise) Sets process noise

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

KalmanFilter

public KalmanFilter(double R,
                    double Q,
                    double A,
                    double B,
                    double C)

Constructor

Parameters:

R - Process noise

Q - Measurement noise

A - State vector

B - Control vector

C - Measurement vector

KalmanFilter

public KalmanFilter(double R,
                    double Q)

Constructor

Parameters:

R - Process noise

Q - Measurement noise

Method Detail

filter

public double filter(double measurement,
                     double u)

Filters a measurement

Parameters:

measurement - The measurement value to be filtered

u - The controlled input value

Returns:

The filtered value

filter

public double filter(double measurement)

Filters a measurement

Parameters:

measurement - The measurement value to be filtered

Returns:

The filtered value

lastMeasurement

public double lastMeasurement()

Set the last measurement.

Returns:

The last measurement fed into the filter

setMeasurementNoise

public void setMeasurementNoise(double noise)

Sets measurement noise

Parameters:

noise - The new measurement noise

setProcessNoise

public void setProcessNoise(double noise)

Sets process noise

Parameters:

noise - The new process noise