1 #-*-coding:iso-8859-1-*-
3 # Copyright (C) 2008-2016 EDF R&D
5 # This library is free software; you can redistribute it and/or
6 # modify it under the terms of the GNU Lesser General Public
7 # License as published by the Free Software Foundation; either
8 # version 2.1 of the License.
10 # This library is distributed in the hope that it will be useful,
11 # but WITHOUT ANY WARRANTY; without even the implied warranty of
12 # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
13 # Lesser General Public License for more details.
15 # You should have received a copy of the GNU Lesser General Public
16 # License along with this library; if not, write to the Free Software
17 # Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
19 # See http://www.salome-platform.org/ or email : webmaster.salome@opencascade.com
21 # Author: Jean-Philippe Argaud, jean-philippe.argaud@edf.fr, EDF R&D
24 from daCore import BasicObjects
27 # ==============================================================================
28 class ElementaryAlgorithm(BasicObjects.Algorithm):
30 BasicObjects.Algorithm.__init__(self, "KALMANFILTER")
31 self.defineRequiredParameter(
32 name = "EstimationOf",
35 message = "Estimation d'etat ou de parametres",
36 listval = ["State", "Parameters"],
38 self.defineRequiredParameter(
39 name = "StoreInternalVariables",
42 message = "Stockage des variables internes ou intermédiaires du calcul",
44 self.defineRequiredParameter(
45 name = "StoreSupplementaryCalculations",
48 message = "Liste de calculs supplémentaires à stocker et/ou effectuer",
49 listval = ["APosterioriCorrelations", "APosterioriCovariance", "APosterioriStandardDeviations", "APosterioriVariances", "BMA", "CurrentState", "CostFunctionJ", "CostFunctionJb", "CostFunctionJo", "Innovation"]
52 def run(self, Xb=None, Y=None, U=None, HO=None, EM=None, CM=None, R=None, B=None, Q=None, Parameters=None):
55 # Paramètres de pilotage
56 # ----------------------
57 self.setParameters(Parameters)
59 if self._parameters["EstimationOf"] == "Parameters":
60 self._parameters["StoreInternalVariables"] = True
65 raise ValueError("Background error covariance matrix has to be properly defined!")
67 raise ValueError("Observation error covariance matrix has to be properly defined!")
69 Ht = HO["Tangent"].asMatrix(Xb)
70 Ha = HO["Adjoint"].asMatrix(Xb)
72 if self._parameters["EstimationOf"] == "State":
73 Mt = EM["Tangent"].asMatrix(Xb)
74 Ma = EM["Adjoint"].asMatrix(Xb)
76 if CM is not None and CM.has_key("Tangent") and U is not None:
77 Cm = CM["Tangent"].asMatrix(Xb)
81 # Nombre de pas identique au nombre de pas d'observations
82 # -------------------------------------------------------
83 if hasattr(Y,"stepnumber"):
84 duration = Y.stepnumber()
88 # Précalcul des inversions de B et R
89 # ----------------------------------
90 if self._parameters["StoreInternalVariables"]:
99 self.StoredVariables["Analysis"].store( Xn.A1 )
100 if "APosterioriCovariance" in self._parameters["StoreSupplementaryCalculations"]:
101 self.StoredVariables["APosterioriCovariance"].store( Pn.asfullmatrix(Xn.size) )
104 previousJMinimum = numpy.finfo(float).max
106 for step in range(duration-1):
107 if hasattr(Y,"store"):
108 Ynpu = numpy.asmatrix(numpy.ravel( Y[step+1] )).T
110 Ynpu = numpy.asmatrix(numpy.ravel( Y )).T
113 if hasattr(U,"store") and len(U)>1:
114 Un = numpy.asmatrix(numpy.ravel( U[step] )).T
115 elif hasattr(U,"store") and len(U)==1:
116 Un = numpy.asmatrix(numpy.ravel( U[0] )).T
118 Un = numpy.asmatrix(numpy.ravel( U )).T
122 if self._parameters["EstimationOf"] == "State":
123 Xn_predicted = Mt * Xn
124 if Cm is not None and Un is not None: # Attention : si Cm est aussi dans M, doublon !
125 Cm = Cm.reshape(Xn.size,Un.size) # ADAO & check shape
126 Xn_predicted = Xn_predicted + Cm * Un
127 Pn_predicted = Q + Mt * Pn * Ma
128 elif self._parameters["EstimationOf"] == "Parameters":
129 # --- > Par principe, M = Id, Q = 0
133 if self._parameters["EstimationOf"] == "State":
134 d = Ynpu - Ht * Xn_predicted
135 elif self._parameters["EstimationOf"] == "Parameters":
136 d = Ynpu - Ht * Xn_predicted
137 if Cm is not None and Un is not None: # Attention : si Cm est aussi dans H, doublon !
140 _A = R + Ht * Pn_predicted * Ha
141 _u = numpy.linalg.solve( _A , d )
142 Xn = Xn_predicted + Pn_predicted * Ha * _u
143 Kn = Pn_predicted * Ha * (R + Ht * Pn_predicted * Ha).I
144 Pn = Pn_predicted - Kn * Ht * Pn_predicted
146 self.StoredVariables["Analysis"].store( Xn.A1 )
147 if "APosterioriCovariance" in self._parameters["StoreSupplementaryCalculations"]:
148 self.StoredVariables["APosterioriCovariance"].store( Pn )
149 if "Innovation" in self._parameters["StoreSupplementaryCalculations"]:
150 self.StoredVariables["Innovation"].store( numpy.ravel( d.A1 ) )
151 if self._parameters["StoreInternalVariables"]:
152 Jb = 0.5 * (Xn - Xb).T * BI * (Xn - Xb)
153 Jo = 0.5 * d.T * RI * d
154 J = float( Jb ) + float( Jo )
155 if self._parameters["StoreInternalVariables"] or "CurrentState" in self._parameters["StoreSupplementaryCalculations"]:
156 self.StoredVariables["CurrentState"].store( Xn )
157 self.StoredVariables["CostFunctionJb"].store( Jb )
158 self.StoredVariables["CostFunctionJo"].store( Jo )
159 self.StoredVariables["CostFunctionJ" ].store( J )
160 if J < previousJMinimum:
163 if "APosterioriCovariance" in self._parameters["StoreSupplementaryCalculations"]:
169 # Stockage supplementaire de l'optimum en estimation de parametres
170 # ----------------------------------------------------------------
171 if self._parameters["EstimationOf"] == "Parameters":
172 self.StoredVariables["Analysis"].store( Xa.A1 )
173 if "APosterioriCovariance" in self._parameters["StoreSupplementaryCalculations"]:
174 self.StoredVariables["APosterioriCovariance"].store( covarianceXa )
176 if "BMA" in self._parameters["StoreSupplementaryCalculations"]:
177 self.StoredVariables["BMA"].store( numpy.ravel(Xb) - numpy.ravel(Xa) )
182 # ==============================================================================
183 if __name__ == "__main__":
184 print '\n AUTODIAGNOSTIC \n'