在Android上实现JKalman滤波器,可以使用以下步骤:
在Android项目中,可以使用JitPack来引入JKalman滤波器库。首先,在项目的根目录的build.gradle文件中添加以下代码:
allprojects {
repositories {
...
maven { url 'https://jitpack.io' }
}
}
然后,在app模块的build.gradle文件中添加以下代码:
dependencies {
implementation 'com.github.mchapagai:JKalman:1.0.0'
}
在需要使用JKalman滤波器的类中,创建一个JKalmanFilter对象,并设置系统模型和观测模型的维度:
import com.github.mchapagai.JKalmanFilter;
public class MainActivity extends AppCompatActivity {
private JKalmanFilter kalmanFilter;
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main);
kalmanFilter = new JKalmanFilter(4, 2);
}
}
在MainActivity类中,设置系统模型和观测模型的矩阵:
import org.ejml.data.DenseMatrix64F;
public class MainActivity extends AppCompatActivity {
private JKalmanFilter kalmanFilter;
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main);
kalmanFilter = new JKalmanFilter(4, 2);
// 设置系统模型矩阵
DenseMatrix64F F = new DenseMatrix64F(4, 4, true, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1);
kalmanFilter.setF(F);
// 设置观测模型矩阵
DenseMatrix64F H = new DenseMatrix64F(2, 4, true, 1, 0, 0, 0, 1, 0, 0, 0);
kalmanFilter.setH(H);
}
}
在MainActivity类中,设置过程噪声和观测噪声协方差矩阵:
import org.ejml.data.DenseMatrix64F;
public class MainActivity extends AppCompatActivity {
private JKalmanFilter kalmanFilter;
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main);
kalmanFilter = new JKalmanFilter(4, 2);
// 设置系统模型矩阵
DenseMatrix64F F = new DenseMatrix64F(4, 4, true, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1);
kalmanFilter.setF(F);
// 设置观测模型矩阵
DenseMatrix64F H = new DenseMatrix64F(2, 4, true, 1, 0, 0, 0, 1, 0, 0, 0);
kalmanFilter.setH(H);
// 设置过程噪声协方差矩阵
DenseMatrix64F Q = new DenseMatrix64F(4, 4, true, 0.01, 0, 0, 0, 0.01);
kalmanFilter.setQ(Q);
// 设置观测噪声协方差矩阵
DenseMatrix64F R = new DenseMatrix64F(2, 2, true, 0.1, 0, 0, 0.1);
kalmanFilter.setR(R);
}
}
在MainActivity类中,使用JKalman滤波器对传感器数据进行滤波:
import org.ejml.data.DenseMatrix64F;
public class MainActivity extends AppCompatActivity {
private JKalmanFilter kalmanFilter;
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main);
kalmanFilter = new JKalmanFilter(4, 2);
// 设置系统模型矩阵
DenseMatrix64F F = new DenseMatrix64F(4, 4, true, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1);
kalmanFilter.setF(F);
// 设置观测模型矩阵
DenseMatrix64F H = new DenseMatrix64F(2, 4, true, 1, 0, 0, 0, 1, 0, 0, 0);
kalmanFilter.setH(H);
// 设置过程噪声协方差矩阵
DenseMatrix64F Q = new DenseMatrix64F(4, 4, true, 0.01, 0, 0, 0, 0.01);
kalmanFilter.setQ(Q);
// 设置观测噪声协方差矩阵
DenseMatrix64F R = new DenseMatrix64F(2, 2, true, 0.1, 0, 0, 0.1);
kalmanFilter.setR(R);
// 设置初始状态
DenseMatrix64F x = new DenseMatrix64F(4, 1, true, 0, 0, 0, 0);
kalmanFilter.setX(x);
// 设置初始输出协方差矩阵
DenseMatrix64F P = new DenseMatrix64F(4, 4, true, 1, 0, 0, 0, 1);
kalmanFilter.setP(P);
// 使用JKalman滤波器进行滤波
DenseMatrix64F z = new DenseMatrix64F(2, 1, true, 10, 20);
kalmanFilter.predict();
kalmanFilter.update(z);
DenseMatrix64F xPost = kalmanFilter.getX();
}
}
以上代码实现了在Android上使用JKalman滤波器进行滤波的功能。
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