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- /*
- * SimpleKalmanFilter - a Kalman Filter implementation for single variable models.
- * Created by Denys Sene, January, 1, 2017.
- * Released under MIT License - see LICENSE file for details.
- */
- #include "Arduino.h"
- #include "SimpleKalmanFilter.h"
- #include <math.h>
- SimpleKalmanFilter::SimpleKalmanFilter(float mea_e, float est_e, float q)
- {
- _err_measure=mea_e;
- _err_estimate=est_e;
- _q = q;
- }
- float SimpleKalmanFilter::updateEstimate(float mea)
- {
- _kalman_gain = _err_estimate/(_err_estimate + _err_measure);
- _current_estimate = _last_estimate + _kalman_gain * (mea - _last_estimate);
- _err_estimate = (1.0 - _kalman_gain)*_err_estimate + fabs(_last_estimate-_current_estimate)*_q;
- _last_estimate=_current_estimate;
- return _current_estimate;
- }
- void SimpleKalmanFilter::setMeasurementError(float mea_e)
- {
- _err_measure=mea_e;
- }
- void SimpleKalmanFilter::setEstimateError(float est_e)
- {
- _err_estimate=est_e;
- }
- void SimpleKalmanFilter::setProcessNoise(float q)
- {
- _q=q;
- }
- float SimpleKalmanFilter::getKalmanGain() {
- return _kalman_gain;
- }
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