2 Copyright (C) 2008-2020 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 Algorithme de calcul "*ExtendedKalmanFilter*"
28 ---------------------------------------------
30 .. ------------------------------------ ..
31 .. include:: snippets/Header2Algo01.rst
33 Cet algorithme réalise une estimation de l'état d'un système dynamique par un
34 filtre de Kalman étendu, utilisant un calcul non linéaire de l'état et de
35 l'évolution incrémentale (processus).
37 Conceptuellement, on peut représenter le schéma temporel d'action des
38 opérateurs pour cet algorithme de la manière suivante, avec **H** l'opérateur
39 d'observation et **M** l'opérateur d'évolution :
41 .. _schema_temporel_KF:
42 .. image:: images/schema_temporel_KF.png
46 **Schéma temporel des étapes en assimilation par filtre de Kalman**
48 Dans le cas d'opérateurs réellement non-linéaires, on peut aisément utiliser
49 l':ref:`section_ref_algorithm_EnsembleKalmanFilter` ou
50 l':ref:`section_ref_algorithm_UnscentedKalmanFilter`, qui sont souvent
51 largement plus adaptés aux comportements non-linéaires mais plus coûteux. On
52 peut vérifier la linéarité des opérateurs à l'aide de
53 l':ref:`section_ref_algorithm_LinearityTest`.
55 .. ------------------------------------ ..
56 .. include:: snippets/Header2Algo02.rst
58 .. include:: snippets/Background.rst
60 .. include:: snippets/BackgroundError.rst
62 .. include:: snippets/EvolutionError.rst
64 .. include:: snippets/EvolutionModel.rst
66 .. include:: snippets/Observation.rst
68 .. include:: snippets/ObservationError.rst
70 .. include:: snippets/ObservationOperator.rst
72 .. ------------------------------------ ..
73 .. include:: snippets/Header2Algo03AdOp.rst
75 .. include:: snippets/BoundsWithExtremes.rst
77 .. include:: snippets/ConstrainedBy.rst
79 .. include:: snippets/EstimationOf.rst
81 StoreSupplementaryCalculations
82 .. index:: single: StoreSupplementaryCalculations
84 Cette liste indique les noms des variables supplémentaires qui peuvent être
85 disponibles à la fin de l'algorithme, si elles sont initialement demandées par
86 l'utilisateur. Cela implique potentiellement des calculs ou du stockage
87 coûteux. La valeur par défaut est une liste vide, aucune de ces variables
88 n'étant calculée et stockée par défaut sauf les variables inconditionnelles.
89 Les noms possibles sont dans la liste suivante : [
91 "APosterioriCorrelations",
92 "APosterioriCovariance",
93 "APosterioriStandardDeviations",
94 "APosterioriVariances",
97 "CostFunctionJAtCurrentOptimum",
99 "CostFunctionJbAtCurrentOptimum",
101 "CostFunctionJoAtCurrentOptimum",
106 "InnovationAtCurrentAnalysis",
107 "InnovationAtCurrentState",
108 "SimulatedObservationAtCurrentAnalysis",
109 "SimulatedObservationAtCurrentOptimum",
110 "SimulatedObservationAtCurrentState",
114 ``{"StoreSupplementaryCalculations":["BMA", "CurrentState"]}``
116 .. ------------------------------------ ..
117 .. include:: snippets/Header2Algo04.rst
119 .. include:: snippets/Analysis.rst
121 .. ------------------------------------ ..
122 .. include:: snippets/Header2Algo05.rst
124 .. include:: snippets/Analysis.rst
126 .. include:: snippets/APosterioriCorrelations.rst
128 .. include:: snippets/APosterioriCovariance.rst
130 .. include:: snippets/APosterioriStandardDeviations.rst
132 .. include:: snippets/APosterioriVariances.rst
134 .. include:: snippets/BMA.rst
136 .. include:: snippets/CostFunctionJ.rst
138 .. include:: snippets/CostFunctionJAtCurrentOptimum.rst
140 .. include:: snippets/CostFunctionJb.rst
142 .. include:: snippets/CostFunctionJbAtCurrentOptimum.rst
144 .. include:: snippets/CostFunctionJo.rst
146 .. include:: snippets/CostFunctionJoAtCurrentOptimum.rst
148 .. include:: snippets/CurrentOptimum.rst
150 .. include:: snippets/CurrentState.rst
152 .. include:: snippets/ForecastState.rst
154 .. include:: snippets/IndexOfOptimum.rst
156 .. include:: snippets/InnovationAtCurrentAnalysis.rst
158 .. include:: snippets/InnovationAtCurrentState.rst
160 .. include:: snippets/SimulatedObservationAtCurrentAnalysis.rst
162 .. include:: snippets/SimulatedObservationAtCurrentOptimum.rst
164 .. include:: snippets/SimulatedObservationAtCurrentState.rst
166 .. ------------------------------------ ..
167 .. include:: snippets/Header2Algo06.rst
169 - :ref:`section_ref_algorithm_KalmanFilter`
170 - :ref:`section_ref_algorithm_EnsembleKalmanFilter`
171 - :ref:`section_ref_algorithm_UnscentedKalmanFilter`
173 .. ------------------------------------ ..
174 .. include:: snippets/Header2Algo07.rst