HInfinityFilter¶
Copyright 2015 Roger R Labbe Jr.
FilterPy library. http://github.com/rlabbe/filterpy
Documentation at: https://filterpy.readthedocs.org
Supporting book at: https://github.com/rlabbe/KalmanandBayesianFiltersinPython
This is licensed under an MIT license. See the readme.MD file for more information.

class
filterpy.hinfinity.
HInfinityFilter
(dim_x, dim_z, dim_u, gamma)[source]¶ 
__init__
(dim_x, dim_z, dim_u, gamma)[source]¶ Create an HInfinity filter. You are responsible for setting the various state variables to reasonable values; the defaults below will not give you a functional filter.
Parameters: dim_x : int
Number of state variables for the Kalman filter. For example, if you are tracking the position and velocity of an object in two dimensions, dim_x would be 4.
This is used to set the default size of P, Q, and u
dim_z : int
Number of of measurement inputs. For example, if the sensor provides you with position in (x,y), dim_z would be 2.
dim_u : int
Number of control inputs for the Gu part of the prediction step.

update
(Z)[source]¶ Add a new measurement (Z) to the kalman filter. If Z is None, nothing is changed.
Parameters: Z : np.array
measurement for this update.

predict
(u=0)[source]¶ Predict next position.
Parameters: u : np.array
Optional control vector. If nonzero, it is multiplied by G to create the control input into the system.

batch_filter
(Zs, Rs=None, update_first=False)[source]¶ Batch processes a sequences of measurements.
Parameters: Zs : listlike
list of measurements at each time step self.dt Missing measurements must be represented by ‘None’.
Rs : listlike, optional
optional list of values to use for the measurement error covariance; a value of None in any position will cause the filter to use self.R for that time step.
update_first : bool, optional,
controls whether the order of operations is update followed by predict, or predict followed by update. Default is predict>update.
Returns: means: np.array((n,dim_x,1))
array of the state for each time step. Each entry is an np.array. In other words means[k,:] is the state at step k.
covariance: np.array((n,dim_x,dim_x))
array of the covariances for each time step. In other words covariance[k,:,:] is the covariance at step k.

get_prediction
(u=0)[source]¶ Predicts the next state of the filter and returns it. Does not alter the state of the filter.
Parameters: u : np.array
optional control input
Returns: x : numpy.ndarray
State vecto of the prediction.

residual_of
(z)[source]¶ returns the residual for the given measurement (z). Does not alter the state of the filter.

measurement_of_state
(x)[source]¶ Helper function that converts a state into a measurement.
Parameters: x : np.array
kalman state vector
Returns: z : np.array
measurement corresponding to the given state

x
¶ state vector

P
¶ covariance matrix

F
¶ State transition matrix
