Różnice między wybraną wersją a wersją aktualną.
| Both sides previous revision Poprzednia wersja Nowa wersja | Poprzednia wersja | ||
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pl:dydaktyka:aml:lab7_2017 [2017/10/24 08:28] esimon [Particle filtering (model zaszumiony)] |
pl:dydaktyka:aml:lab7_2017 [2019/06/27 15:50] (aktualna) |
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| Linia 24: | Linia 24: | ||
| === Exercise 1=== | === Exercise 1=== | ||
| Use following dependency: | Use following dependency: | ||
| - | {{ :pl:dydaktyka:aml:trilateration.png?400 |}} | + | |
| + | {{:pl:dydaktyka:aml:trilateration.png?400 |}} | ||
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| + | Assumed that tower 1 and 2 are on the same line, we have following circle equations: | ||
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| + | {{ :pl:dydaktyka:aml:trilateration-eq1.png?200 |}} | ||
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| + | By subtracting the second equation from the first, x is attained. Substituting this value back into the first equation will result in values for y: | ||
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| + | {{ :pl:dydaktyka:aml:trilateration-eq2.png?200 |}} | ||
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| + | Solving this will make two solutions (see the plus/minus sign). But substituting these two combinations to the third equation will allow us to discard wrong answer. | ||
| ===Ecercise II=== | ===Ecercise II=== | ||
| Linia 36: | Linia 47: | ||
| See branch particle-filtering of the project. | See branch particle-filtering of the project. | ||
| - | Change particle filtering mehod to use Kalman filtering. | + | Change particle filtering mehod to use [[http://www.bzarg.com/p/how-a-kalman-filter-works-in-pictures/|Kalman filtering]]. |
| Are there are any changes in results? | Are there are any changes in results? | ||
