From 1e5d915f796f26b94adcbf75d56d86993fcd226a Mon Sep 17 00:00:00 2001 From: William Chen <billyskc@ucla.edu> Date: Tue, 28 May 2019 14:47:31 -0700 Subject: [PATCH] modified gs_sci on relative observation --- CoLo-AT/Algorithm Comparison.pdf | Bin 0 -> 20647 bytes CoLo-AT/UTIAS_d1.pdf | Bin 49406 -> 22254 bytes ...ative_Localization_Journal1.cpython-36.pyc | Bin 0 -> 2563 bytes .../__pycache__/data_analyzer.cpython-36.pyc | Bin 6839 -> 6928 bytes CoLo-AT/j1_rw.py | 8 ++++-- .../__pycache__/ekf_gs_sci2.cpython-36.pyc | Bin 5197 -> 5435 bytes CoLo-AT/localization_algos/ekf_gs_sci2.py | 26 ++++++++++++++---- .../__pycache__/sim_manager.cpython-36.pyc | Bin 4816 -> 5292 bytes .../__pycache__/state_recorder.cpython-36.pyc | Bin 4829 -> 4760 bytes CoLo-AT/simulation_process/sim_manager.py | 2 +- CoLo-AT/simulation_process/state_recorder.py | 4 ++- CoLo-D/UTIAS-Datasets | 1 + 12 files changed, 30 insertions(+), 11 deletions(-) create mode 100644 CoLo-AT/Algorithm Comparison.pdf create mode 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a/CoLo-AT/localization_algos/ekf_gs_sci2.py b/CoLo-AT/localization_algos/ekf_gs_sci2.py index fa34210..9e97932 100644 --- a/CoLo-AT/localization_algos/ekf_gs_sci2.py +++ b/CoLo-AT/localization_algos/ekf_gs_sci2.py @@ -22,7 +22,7 @@ class EKF_GS_SCI2(ekf_algo_framework): [sigma_d, sigma_i] = sigma_s total_sigma = sigma_d + sigma_i trace_state_var = np.trace(total_sigma[i:i+2, i:i+2])/2 - return np.trace(total_sigma) + return trace_state_var def propagation_update(self, robot_data, sensor_data): @@ -154,24 +154,38 @@ class EKF_GS_SCI2(ekf_algo_framework): sigma_z = rot_mtx(phi)*sigma_ob*rot_mtx(phi).getT() [sigma_d, sigma_i] = sigma_s + total_sigma = sigma_i + sigma_d e = 0.83 + p_1 = 1/e * sigma_d[i:i+2, i:i+2] + sigma_i[i:i+2, i:i+2] + p_2 = 1/(1-e) *sigma_d[j:j+2, j:j+2] + sigma_i[j:j+2, j:j+2] + kalman_gain = p_1*(p_1+p_2).getI() + + s[i:i+2] = kalman_gain*(s[j:j+2]-s[i:i+2]) + i_mtx = np.identity(num_robots*2) + total_sigma[i:i+2, i:i+2] = (-kalman_gain) * p_1 + sigma_i[i:i+2, i:i+2] = (np.identity(2) - kalman_gain) * sigma_i[i:i+2, i:i+2] * (np.identity(2) - kalman_gain).getT() + kalman_gain * sigma_i[j:j+2, j:j+2] * kalman_gain.getT() + sigma_d[i:i+2, i:i+2] = total_sigma[i:i+2, i:i+2] - sigma_i[i:i+2, i:i+2] + + ''' p_1 = (1/e) * sigma_d + sigma_i - - # p_2 = (1/(1-e)) * H * (sigma_i + sigma_d) * H.getT() + sigma_z + sigma_invention = H * p_1 * H.getT() + p_2 kalman_gain = p_1 *H.getT()*sigma_invention.getI() - # - + s = s + kalman_gain*(z - z_hat) i_mtx = np.identity(num_robots*2) + total_sigma = (i_mtx.copy()-kalman_gain*H) * p_1 sigma_i = (i_mtx - kalman_gain*H) * sigma_i * (i_mtx.copy() - kalman_gain*H).getT() + kalman_gain * sigma_z * kalman_gain.getT() sigma_d = total_sigma - sigma_i - + ''' + + + sigma_s = [sigma_d, sigma_i] return [s, orinetations, sigma_s] diff --git a/CoLo-AT/simulation_process/__pycache__/sim_manager.cpython-36.pyc b/CoLo-AT/simulation_process/__pycache__/sim_manager.cpython-36.pyc index 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loc_err = sqrt((est_x_pos-gt_x_pos)*(est_x_pos-gt_x_pos)+(est_y_pos-gt_y_pos)*(est_y_pos-gt_y_pos)) recorded_dataline = [time, robot_label, est_x_pos, est_y_pos, trace_state_var, gt_x_pos, gt_y_pos, loc_err] + + ''' if(trace_state_var<0): print('TIME: ', time+self.start_time) print(updata_type) print('neg trace: ', recorded_dataline) - + ''' ''' if(loc_err >= 1): print(updata_type) diff --git a/CoLo-D/UTIAS-Datasets b/CoLo-D/UTIAS-Datasets new file mode 160000 index 0000000..bf30b31 --- /dev/null +++ b/CoLo-D/UTIAS-Datasets @@ -0,0 +1 @@ +Subproject commit bf30b31be62c28aaf24b533d3dbbbe4c8dd680ef -- GitLab