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
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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: KalmanFilter
25 .. _section_ref_algorithm_KalmanFilter:
27 Calculation algorithm "*KalmanFilter*"
28 --------------------------------------
33 This algorithm realizes an estimation of the state of a dynamic system by a
36 It is theoretically reserved for observation and incremental evolution operators
37 cases which are linear, even if it sometimes works in "slightly" non-linear
38 cases. One can verify the linearity of the observation operator with the help of
39 the :ref:`section_ref_algorithm_LinearityTest`.
41 In case of non-linearity, even slightly marked, it will be preferred the
42 :ref:`section_ref_algorithm_ExtendedKalmanFilter` or the
43 :ref:`section_ref_algorithm_UnscentedKalmanFilter`.
45 Optional and required commands
46 ++++++++++++++++++++++++++++++
48 .. index:: single: Background
49 .. index:: single: BackgroundError
50 .. index:: single: Observation
51 .. index:: single: ObservationError
52 .. index:: single: ObservationOperator
53 .. index:: single: EstimationOf
54 .. index:: single: StoreInternalVariables
55 .. index:: single: StoreSupplementaryCalculations
57 The general required commands, available in the editing user interface, are the
61 *Required command*. This indicates the background or initial vector used,
62 previously noted as :math:`\mathbf{x}^b`. Its value is defined as a
63 "*Vector*" or a *VectorSerie*" type object.
66 *Required command*. This indicates the background error covariance matrix,
67 previously noted as :math:`\mathbf{B}`. Its value is defined as a "*Matrix*"
68 type object, a "*ScalarSparseMatrix*" type object, or a
69 "*DiagonalSparseMatrix*" type object.
72 *Required command*. This indicates the observation vector used for data
73 assimilation or optimization, previously noted as :math:`\mathbf{y}^o`. It
74 is defined as a "*Vector*" or a *VectorSerie* type object.
77 *Required command*. This indicates the observation error covariance matrix,
78 previously noted as :math:`\mathbf{R}`. It is defined as a "*Matrix*" type
79 object, a "*ScalarSparseMatrix*" type object, or a "*DiagonalSparseMatrix*"
83 *Required command*. This indicates the observation operator, previously
84 noted :math:`H`, which transforms the input parameters :math:`\mathbf{x}` to
85 results :math:`\mathbf{y}` to be compared to observations
86 :math:`\mathbf{y}^o`. Its value is defined as a "*Function*" type object or
87 a "*Matrix*" type one. In the case of "*Function*" type, different
88 functional forms can be used, as described in the section
89 :ref:`section_ref_operator_requirements`. If there is some control :math:`U`
90 included in the observation, the operator has to be applied to a pair
93 The general optional commands, available in the editing user interface, are
94 indicated in :ref:`section_ref_assimilation_keywords`. In particular, the
95 optional command "*AlgorithmParameters*" allows to choose the specific options,
96 described hereafter, of the algorithm. See
97 :ref:`section_ref_options_AlgorithmParameters` for the good use of this command.
99 The options of the algorithm are the following:
102 This key allows to choose the type of estimation to be performed. It can be
103 either state-estimation, with a value of "State", or parameter-estimation,
104 with a value of "Parameters". The default choice is "State".
106 Example : ``{"EstimationOf":"Parameters"}``
108 StoreInternalVariables
109 This Boolean key allows to store default internal variables, mainly the
110 current state during iterative optimization process. Be careful, this can be
111 a numerically costly choice in certain calculation cases. The default is
114 Example : ``{"StoreInternalVariables":True}``
116 StoreSupplementaryCalculations
117 This list indicates the names of the supplementary variables that can be
118 available at the end of the algorithm. It involves potentially costly
119 calculations or memory consumptions. The default is a void list, none of
120 these variables being calculated and stored by default. The possible names
121 are in the following list: ["APosterioriCovariance", "BMA", "Innovation"].
123 Example : ``{"StoreSupplementaryCalculations":["BMA","Innovation"]}``
128 References to other sections:
129 - :ref:`section_ref_algorithm_ExtendedKalmanFilter`
130 - :ref:`section_ref_algorithm_UnscentedKalmanFilter`