资源简介
python实现CTRV模型的扩展卡尔曼滤波的代码,里面有详细解释和如何运行代码。具体的参考我的博客:https://blog.csdn.net/O_MMMM_O/article/details/106078679
代码片段和文件信息
import plotly.offline as py
from plotly.graph_objs import *
import pandas as pd
import math
py.init_notebook_mode()
my_cols = [‘px_est‘ ‘py_est‘ ‘vx_est‘ ‘vy_est‘ ‘px_meas‘ ‘py_meas‘ ‘px_gt‘ ‘py_gt‘ ‘vx_gt‘ ‘vy_gt‘]
with open(‘output.txt‘) as f:
table_ekf_output = pd.read_table(f sep=‘ ‘ header=None names=my_cols lineterminator=‘\n‘)
# table_ekf_output
import plotly.offline as py
from plotly.graph_objs import *
# Measurements
trace2 = Scatter(
x=table_ekf_output[‘px_meas‘]
y=table_ekf_output[‘py_meas‘]
xaxis=‘x2‘
yaxis=‘y2‘
name=‘Measurements‘
mode = ‘markers‘
)
# estimations
trace1 = Scatter(
x=table_ekf_output[‘px_est‘]
y=table_ekf_output[‘py_est‘]
xaxis=‘x2‘
yaxis=‘y2‘
name=‘KF- Estimate‘
mode=‘markers‘
)
# Ground Truth
trace3 = Scatter(
x=table_ekf_output[‘px_gt‘]
y=table_ekf_output[‘py_gt‘]
xaxis=‘x2‘
yaxis=‘y2‘
name=‘Ground Truth‘
mode=‘markers‘
)
data = [trace1 trace2 trace3]
layout = Layout(
xaxis2=dict(
anchor=‘x2‘
title=‘px‘
)
yaxis2=dict(
anchor=‘y2‘
title=‘py‘
)
)
fig = Figure(data=data layout=layout)
py.plot(fig filename=‘EKF‘)
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
....... 66250 2019-12-02 20:03 EKF_CTRV\data_synthetic.txt
....... 3033924 2019-12-02 20:03 EKF_CTRV\EKF.html
....... 48587 2019-12-02 20:03 EKF_CTRV\output.txt
....... 66250 2019-12-02 20:03 EKF_CTRV\obj_pose-laser-radar-synthetic-input.txt
....... 48587 2019-12-02 20:03 EKF_CTRV\myEKF\output.txt
....... 12547 2019-12-02 20:03 EKF_CTRV\myEKF\EKF_CTVR.ipynb
....... 7687 2019-12-02 20:03 EKF_CTRV\myEKF\EKF_CTVR.py
....... 1232 2019-12-02 20:03 EKF_CTRV\myEKF\plot1.py
....... 44234 2019-12-02 20:03 EKF_CTRV\myEKF\newplot.png
....... 3033924 2019-12-02 20:03 EKF_CTRV\myEKF\EKF.html
....... 66250 2019-12-02 20:03 EKF_CTRV\myEKF\data_synthetic.txt
....... 137 2019-12-02 20:03 EKF_CTRV\myEKF\README.md
....... 12547 2019-12-02 20:03 EKF_CTRV\EKF_CTVR.ipynb
....... 44234 2019-12-02 20:03 EKF_CTRV\newplot.png
....... 12556 2019-12-02 20:03 EKF_CTRV\.ipynb_checkpoints\EKF_CTVR-checkpoint.ipynb
....... 42135 2019-12-02 20:03 EKF_CTRV\data\output.txt
....... 3028273 2019-12-02 20:03 EKF_CTRV\data\EKF.html
....... 66250 2019-12-02 20:03 EKF_CTRV\data\data_synthetic.txt
....... 1232 2019-12-02 20:03 EKF_CTRV\data\plot1.py
....... 137 2019-12-02 20:03 EKF_CTRV\README.md
....... 48587 2019-12-02 20:03 EKF_CTRV\output.csv
....... 1232 2019-12-02 20:03 EKF_CTRV\plot1.py
目录 0 2019-12-02 20:03 EKF_CTRV\myEKF
...D.H. 0 2019-12-02 20:03 EKF_CTRV\.ipynb_checkpoints
目录 0 2019-12-02 20:03 EKF_CTRV\data
目录 0 2019-12-02 20:03 EKF_CTRV
----------- --------- ---------- ----- ----
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