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