2 Copyright (C) 2008-2015 EDF R&D
4 This file is part of SALOME ADAO module.
6 This library is free software; you can redistribute it and/or
7 modify it under the terms of the GNU Lesser General Public
8 License as published by the Free Software Foundation; either
9 version 2.1 of the License, or (at your option) any later version.
11 This library is distributed in the hope that it will be useful,
12 but WITHOUT ANY WARRANTY; without even the implied warranty of
13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14 Lesser General Public License for more details.
16 You should have received a copy of the GNU Lesser General Public
17 License along with this library; if not, write to the Free Software
18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
20 See http://www.salome-platform.org/ or email : webmaster.salome@opencascade.com
22 Author: Jean-Philippe Argaud, jean-philippe.argaud@edf.fr, EDF R&D
24 .. index:: single: ExtendedKalmanFilter
25 .. _section_ref_algorithm_ExtendedKalmanFilter:
27 Calculation algorithm "*ExtendedKalmanFilter*"
28 ----------------------------------------------
33 This algorithm realizes an estimation of the state of a dynamic system by a
34 extended Kalman Filter, using a non-linear calculation of the state.
36 Optional and required commands
37 ++++++++++++++++++++++++++++++
39 .. index:: single: Background
40 .. index:: single: BackgroundError
41 .. index:: single: Observation
42 .. index:: single: ObservationError
43 .. index:: single: ObservationOperator
44 .. index:: single: Bounds
45 .. index:: single: ConstrainedBy
46 .. index:: single: EstimationOf
47 .. index:: single: StoreInternalVariables
48 .. index:: single: StoreSupplementaryCalculations
50 The general required commands, available in the editing user interface, are the
54 *Required command*. This indicates the background or initial vector used,
55 previously noted as :math:`\mathbf{x}^b`. Its value is defined as a
56 "*Vector*" or a *VectorSerie*" type object.
59 *Required command*. This indicates the background error covariance matrix,
60 previously noted as :math:`\mathbf{B}`. Its value is defined as a "*Matrix*"
61 type object, a "*ScalarSparseMatrix*" type object, or a
62 "*DiagonalSparseMatrix*" type object.
65 *Required command*. This indicates the observation vector used for data
66 assimilation or optimization, previously noted as :math:`\mathbf{y}^o`. It
67 is defined as a "*Vector*" or a *VectorSerie* type object.
70 *Required command*. This indicates the observation error covariance matrix,
71 previously noted as :math:`\mathbf{R}`. It is defined as a "*Matrix*" type
72 object, a "*ScalarSparseMatrix*" type object, or a "*DiagonalSparseMatrix*"
76 *Required command*. This indicates the observation operator, previously
77 noted :math:`H`, which transforms the input parameters :math:`\mathbf{x}` to
78 results :math:`\mathbf{y}` to be compared to observations
79 :math:`\mathbf{y}^o`. Its value is defined as a "*Function*" type object or
80 a "*Matrix*" type one. In the case of "*Function*" type, different
81 functional forms can be used, as described in the section
82 :ref:`section_ref_operator_requirements`. If there is some control :math:`U`
83 included in the observation, the operator has to be applied to a pair
86 The general optional commands, available in the editing user interface, are
87 indicated in :ref:`section_ref_assimilation_keywords`. In particular, the
88 optional command "*AlgorithmParameters*" allows to choose the specific options,
89 described hereafter, of the algorithm. See
90 :ref:`section_ref_options_AlgorithmParameters` for the good use of this command.
92 The options of the algorithm are the following:
95 This key allows to define upper and lower bounds for every state variable
96 being optimized. Bounds have to be given by a list of list of pairs of
97 lower/upper bounds for each variable, with extreme values every time there
98 is no bound (``None`` is not allowed when there is no bound).
100 Example : ``{"Bounds":[[2.,5.],[1.e-2,10.],[-30.,1.e99],[-1.e99,1.e99]]}``
103 This key allows to choose the type of estimation to be performed. It can be
104 either state-estimation, with a value of "State", or parameter-estimation,
105 with a value of "Parameters". The default choice is "State".
107 Example : ``{"EstimationOf":"Parameters"}``
109 StoreInternalVariables
110 This Boolean key allows to store default internal variables, mainly the
111 current state during iterative optimization process. Be careful, this can be
112 a numerically costly choice in certain calculation cases. The default is
115 Example : ``{"StoreInternalVariables":True}``
117 StoreSupplementaryCalculations
118 This list indicates the names of the supplementary variables that can be
119 available at the end of the algorithm. It involves potentially costly
120 calculations or memory consumptions. The default is a void list, none of
121 these variables being calculated and stored by default. The possible names
122 are in the following list: ["APosterioriCovariance", "BMA", "Innovation"].
124 Example : ``{"StoreSupplementaryCalculations":["BMA","Innovation"]}``
129 References to other sections:
130 - :ref:`section_ref_algorithm_KalmanFilter`
131 - :ref:`section_ref_algorithm_UnscentedKalmanFilter`