functionukfPredict
Prediction step in ukf
Extends from Modelica_LinearSystems2.WorkInProgress.DiscreteStateSpace.Internal.predictBase (Base class of prediction-function).
Inputs
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica_LinearSystems2.DiscreteStateSpace.Internal.fBase | fSigma (from predictBase) | ||
| Real[:] | xpre (from predictBase) | Estimated vector of previous instant | |
| Real[:] | upre (from predictBase) | Input at instant k | |
| Real[size(xpre, 1),size(xpre, 1)] | Ppre (from predictBase) | Error covariance matrix of the previous instant | |
| Real[size(Ppre, 1),size(Ppre, 1)] | Q (from predictBase) | Covariance matrix of the process noise | |
| Real | alpha (from predictBase) | 1 | Spread of sigma points |
| Real | beta (from predictBase) | 2 | Characteristic of the distribution of x |
| Real | kappa (from predictBase) | 0 | Kurtosis scaling of sigma point distribution |
| Modelica.Units.SI.Time | Ts (from predictBase) | Sample time |
Outputs
| Type | Name | Default | Description |
|---|---|---|---|
| Real[size(xpre, 1)] | mu (from predictBase) | Predicted mean | |
| Real[size(xpre, 1),size(xpre, 1)] | Pk (from predictBase) | Transformed covariance matrix |
Revisions
| Date | Author | Comment |
|---|---|---|
| 2010-06-11 | Marcus Baur, DLR-RM | Realization |