1 #-*-coding:iso-8859-1-*-
3 # Copyright (C) 2008-2014 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, PlatformInfo
25 m = PlatformInfo.SystemUsage()
28 # ==============================================================================
29 class ElementaryAlgorithm(BasicObjects.Algorithm):
31 BasicObjects.Algorithm.__init__(self, "KALMANFILTER")
32 self.defineRequiredParameter(
33 name = "EstimationOf",
36 message = "Estimation d'etat ou de parametres",
37 listval = ["State", "Parameters"],
39 self.defineRequiredParameter(
40 name = "StoreInternalVariables",
43 message = "Stockage des variables internes ou intermédiaires du calcul",
45 self.defineRequiredParameter(
46 name = "StoreSupplementaryCalculations",
49 message = "Liste de calculs supplémentaires à stocker et/ou effectuer",
50 listval = ["APosterioriCovariance", "BMA", "Innovation"]
53 def run(self, Xb=None, Y=None, U=None, HO=None, EM=None, CM=None, R=None, B=None, Q=None, Parameters=None):
54 logging.debug("%s Lancement"%self._name)
55 logging.debug("%s Taille mémoire utilisée de %.1f Mo"%(self._name, m.getUsedMemory("M")))
57 # Paramètres de pilotage
58 # ----------------------
59 self.setParameters(Parameters)
61 if self._parameters["EstimationOf"] == "Parameters":
62 self._parameters["StoreInternalVariables"] = True
67 raise ValueError("Background error covariance matrix has to be properly defined!")
69 raise ValueError("Observation error covariance matrix has to be properly defined!")
71 Ht = HO["Tangent"].asMatrix(Xb)
72 Ha = HO["Adjoint"].asMatrix(Xb)
74 if self._parameters["EstimationOf"] == "State":
75 Mt = EM["Tangent"].asMatrix(Xb)
76 Ma = EM["Adjoint"].asMatrix(Xb)
78 if CM is not None and CM.has_key("Tangent") and U is not None:
79 Cm = CM["Tangent"].asMatrix(Xb)
83 # Nombre de pas du Kalman identique au nombre de pas d'observations
84 # -----------------------------------------------------------------
85 if hasattr(Y,"stepnumber"):
86 duration = Y.stepnumber()
90 # Précalcul des inversions de B et R
91 # ----------------------------------
92 if self._parameters["StoreInternalVariables"]:
101 self.StoredVariables["Analysis"].store( Xn.A1 )
102 if "APosterioriCovariance" in self._parameters["StoreSupplementaryCalculations"]:
103 self.StoredVariables["APosterioriCovariance"].store( Pn )
106 previousJMinimum = numpy.finfo(float).max
108 for step in range(duration-1):
109 if hasattr(Y,"store"):
110 Ynpu = numpy.asmatrix(numpy.ravel( Y[step+1] )).T
112 Ynpu = numpy.asmatrix(numpy.ravel( Y )).T
115 if hasattr(U,"store") and len(U)>1:
116 Un = numpy.asmatrix(numpy.ravel( U[step] )).T
117 elif hasattr(U,"store") and len(U)==1:
118 Un = numpy.asmatrix(numpy.ravel( U[0] )).T
120 Un = numpy.asmatrix(numpy.ravel( U )).T
124 if self._parameters["EstimationOf"] == "State":
125 Xn_predicted = Mt * Xn
126 if Cm is not None and Un is not None: # Attention : si Cm est aussi dans M, doublon !
127 Cm = Cm.reshape(Xn.size,Un.size) # ADAO & check shape
128 Xn_predicted = Xn_predicted + Cm * Un
129 Pn_predicted = Q + Mt * Pn * Ma
130 elif self._parameters["EstimationOf"] == "Parameters":
131 # --- > Par principe, M = Id, Q = 0
135 if self._parameters["EstimationOf"] == "State":
136 d = Ynpu - Ht * Xn_predicted
137 elif self._parameters["EstimationOf"] == "Parameters":
138 d = Ynpu - Ht * Xn_predicted
139 if Cm is not None and Un is not None: # Attention : si Cm est aussi dans H, doublon !
142 Kn = Pn_predicted * Ha * (R + Ht * Pn_predicted * Ha).I
143 Xn = Xn_predicted + Kn * d
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 self.StoredVariables["CurrentState"].store( Xn )
156 self.StoredVariables["CostFunctionJb"].store( Jb )
157 self.StoredVariables["CostFunctionJo"].store( Jo )
158 self.StoredVariables["CostFunctionJ" ].store( J )
159 if J < previousJMinimum:
162 if "APosterioriCovariance" in self._parameters["StoreSupplementaryCalculations"]:
168 # Stockage supplementaire de l'optimum en estimation de parametres
169 # ----------------------------------------------------------------
170 if self._parameters["EstimationOf"] == "Parameters":
171 self.StoredVariables["Analysis"].store( Xa.A1 )
172 if "APosterioriCovariance" in self._parameters["StoreSupplementaryCalculations"]:
173 self.StoredVariables["APosterioriCovariance"].store( covarianceXa )
175 if "BMA" in self._parameters["StoreSupplementaryCalculations"]:
176 self.StoredVariables["BMA"].store( numpy.ravel(Xb) - numpy.ravel(Xa) )
178 logging.debug("%s Nombre d'évaluation(s) de l'opérateur d'observation direct/tangent/adjoint.: %i/%i/%i"%(self._name, HO["Direct"].nbcalls(0),HO["Tangent"].nbcalls(0),HO["Adjoint"].nbcalls(0)))
179 logging.debug("%s Nombre d'appels au cache d'opérateur d'observation direct/tangent/adjoint..: %i/%i/%i"%(self._name, HO["Direct"].nbcalls(3),HO["Tangent"].nbcalls(3),HO["Adjoint"].nbcalls(3)))
180 logging.debug("%s Taille mémoire utilisée de %.1f Mo"%(self._name, m.getUsedMemory("M")))
181 logging.debug("%s Terminé"%self._name)
185 # ==============================================================================
186 if __name__ == "__main__":
187 print '\n AUTODIAGNOSTIC \n'