{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "## Kalman filter\n", "\n", "We will go through this notebook after a Power Point lecture.\n", "\n", "In the Power Point lecture, we showed -- amongst other imates -- figures from [this PDF](https://synapticlab.co.kr/attachment/cfile1.uf@2737C54B590907BA0D46CE.pdf) ([doi:10.1109/MSP.2012.2203621](https://doi.org/10.1109/MSP.2012.2203621)).\n", "\n", "As further reading, I recommend this webpage: [How a Kalman filter works, in pictures](https://www.bzarg.com/p/how-a-kalman-filter-works-in-pictures/).\n", "\n", "For a wonderful, if hardcore, Python-based Kalman filter library and documentation, please see [FilterPy](https://filterpy.readthedocs.io/en/latest/)." ] }, { "cell_type": "code", "execution_count": 1, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Requirement already satisfied: adskalman in /Users/andrew/anaconda3/envs/pm21-dragon/lib/python3.11/site-packages (0.3.11)\n" ] } ], "source": [ "!pip install adskalman" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "# Kalman filter example in Python" ] }, { "cell_type": "code", "execution_count": 2, "metadata": {}, "outputs": [], "source": [ "import numpy as np\n", "import adskalman.adskalman as adskalman\n", "import matplotlib.pyplot as plt" ] }, { "cell_type": "code", "execution_count": 3, "metadata": {}, "outputs": [], "source": [ "def column(arr):\n", " \"\"\"convert 1D array-like to a 2D vertical array\n", "\n", " >>> column((1,2,3))\n", "\n", " array([[1],\n", " [2],\n", " [3]])\n", " \"\"\"\n", " arr = np.array(arr)\n", " assert arr.ndim == 1\n", " a2 = arr[:, np.newaxis]\n", " return a2" ] }, { "cell_type": "code", "execution_count": 4, "metadata": {}, "outputs": [], "source": [ "# Create a 4-dimensional state space model:\n", "# (x, y, xvel, yvel).\n", "dt = 0.01\n", "true_initial_state = column([0.0, 0.0, 10.0, -5.0])\n", "# This is F in wikipedia language.\n", "motion_model = np.array([[1.0, 0.0, dt, 0.0],\n", " [0.0, 1.0, 0.0, dt],\n", " [0.0, 0.0, 1.0, 0.0],\n", " [0.0, 0.0, 0.0, 1.0]])\n", "\n", "# This is Q in wikipedia language. For a constant velocity form, it must take this specific form to be correct.\n", "T3 = dt**3/3\n", "T2 = dt**2/2\n", "motion_noise_covariance = 1000.0*np.array([[T3, 0.0, T2, 0.0],\n", " [0.0, T3, 0.0, T2],\n", " [T2, 0.0, dt, 0.0],\n", " [0.0, T2, 0.0, dt]])" ] }, { "cell_type": "code", "execution_count": 5, "metadata": {}, "outputs": [], "source": [ "duration = 0.5\n", "t = np.arange(0.0, duration, dt)" ] }, { "cell_type": "code", "execution_count": 6, "metadata": {}, "outputs": [], "source": [ "# Create some fake data with our model.\n", "current_state = true_initial_state\n", "state = []\n", "for _ in t:\n", " state.append(current_state[:, 0])\n", " noise_sample = adskalman.rand_mvn(np.zeros(4), motion_noise_covariance, 1).T\n", " current_state = np.dot(motion_model, current_state) + noise_sample\n", "state = np.array(state)" ] }, { "cell_type": "code", "execution_count": 7, "metadata": {}, "outputs": [ { "data": { "image/png": "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", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "plt.plot(state[:, 0], state[:, 1], '.-')\n", "plt.xlabel('x')\n", "_ = plt.ylabel('y')" ] }, { "cell_type": "code", "execution_count": 8, "metadata": {}, "outputs": [], "source": [ "# Create observation model. We only observe the position.\n", "observation_model = np.array([[1.0, 0.0, 0.0, 0.0],\n", " [0.0, 1.0, 0.0, 0.0]])\n", "observation_noise_covariance = np.array([[0.01, 0.0],\n", " [0.0, 0.01]])" ] }, { "cell_type": "code", "execution_count": 9, "metadata": {}, "outputs": [], "source": [ "# Create noisy observations.\n", "observation = []\n", "for current_state in state:\n", " noise_sample = adskalman.rand_mvn(np.zeros(2), observation_noise_covariance, 1).T\n", " current_observation = np.dot(observation_model, column(current_state)) + noise_sample\n", " observation.append(current_observation[:, 0])\n", "observation = np.array(observation)" ] }, { "cell_type": "code", "execution_count": 10, "metadata": {}, "outputs": [ { "data": { "image/png": "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", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "plt.plot(observation[:, 0], observation[:, 1], '.-')\n", "plt.xlabel('x')\n", "_ = plt.ylabel('y')" ] }, { "cell_type": "code", "execution_count": 11, "metadata": {}, "outputs": [], "source": [ "# Run kalman filter on the noisy observations.\n", "y = observation\n", "F = motion_model\n", "H = observation_model\n", "Q = motion_noise_covariance\n", "R = observation_noise_covariance\n", "initx = true_initial_state[:, 0]\n", "initV = 0.1*np.eye(4)" ] }, { "cell_type": "code", "execution_count": 12, "metadata": {}, "outputs": [], "source": [ "kfilt = adskalman.KalmanFilter(F, H, Q, R, initx, initV)\n", "xfilt = []\n", "Vfilt = []\n", "for i, y_i in enumerate(y):\n", " is_initial = i == 0\n", " xfilt_i, Vfilt_i = kfilt.step(y=y_i, isinitial=is_initial)\n", " xfilt.append(xfilt_i)\n", " Vfilt.append(Vfilt_i)\n", "xfilt = np.array(xfilt)\n", "Vfilt = np.array(Vfilt)" ] }, { "cell_type": "code", "execution_count": 13, "metadata": {}, "outputs": [ { "data": { "image/png": "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", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "plt.plot(state[:, 0], state[:, 1], '.-', label='true')\n", "plt.plot(observation[:, 0], observation[:, 1], '.-', label='observed')\n", "plt.plot(xfilt[:, 0], xfilt[:, 1], '.-', label='kalman filtered')\n", "plt.xlabel('x')\n", "plt.ylabel('y')\n", "_ = plt.legend()" ] }, { "cell_type": "code", "execution_count": 14, "metadata": {}, "outputs": [], "source": [ "# Now run again with missing data\n", "y[20:30, :] = np.nan\n", "kfilt = adskalman.KalmanFilter(F, H, Q, R, initx, initV)\n", "xfilt = []\n", "Vfilt = []\n", "for i, y_i in enumerate(y):\n", " is_initial = i == 0\n", " xfilt_i, Vfilt_i = kfilt.step(y=y_i, isinitial=is_initial)\n", " xfilt.append(xfilt_i)\n", " Vfilt.append(Vfilt_i)\n", "xfilt = np.array(xfilt)\n", "Vfilt = np.array(Vfilt)" ] }, { "cell_type": "code", "execution_count": 15, "metadata": {}, "outputs": [ { "data": { "image/png": "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", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "plt.plot(state[:, 0], state[:, 1], '.-', label='true')\n", "plt.plot(observation[:, 0], observation[:, 1], '.-', label='observed')\n", "plt.plot(xfilt[:, 0], xfilt[:, 1], '.-', label='kalman filtered')\n", "plt.xlabel('x')\n", "plt.ylabel('y')\n", "_ = plt.legend()" ] } ], "metadata": { "kernelspec": { "display_name": "Python 3 (ipykernel)", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.11.10" } }, "nbformat": 4, "nbformat_minor": 4 }