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Correct the calculation of the incremental weights.

remove-submodule^2
Frédéric Karamé 2018-06-08 20:56:24 +02:00
parent 109fc28dd4
commit 9994d676d2
1 changed files with 8 additions and 7 deletions
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15
nonlinear-filters/src/gaussian_densities.m
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@ -42,11 +42,12 @@ proposal = probability2(mut_t,sqr_Pss_t_t,particles) ;
prior = probability2(st_t_1,sqr_Pss_t_t_1,particles) ;
% likelihood
yt_t_1_i = measurement_equations(particles,ReducedForm,ThreadsOptions) ;
eta_t_i = bsxfun(@minus,obs,yt_t_1_i)' ;
yt_t_1 = sum(yt_t_1_i*weigths1,2) ;
tmp = bsxfun(@minus,yt_t_1_i,yt_t_1) ;
Pyy = bsxfun(@times,weigths2',tmp)*tmp' + H ;
sqr_det = sqrt(det(Pyy)) ;
foo = (eta_t_i/Pyy).*eta_t_i ;
likelihood = exp(-0.5*sum(foo,2))/(normconst*sqr_det) + 1e-99 ;
%eta_t_i = bsxfun(@minus,obs,yt_t_1_i)' ;
%yt_t_1 = sum(yt_t_1_i*weigths1,2) ;
%tmp = bsxfun(@minus,yt_t_1_i,yt_t_1) ;
%Pyy = bsxfun(@times,weigths2',tmp)*tmp' + H ;
%sqr_det = sqrt(det(Pyy)) ;
%foo = (eta_t_i/Pyy).*eta_t_i ;
%likelihood = exp(-0.5*sum(foo,2))/(normconst*sqr_det) + 1e-99 ;
likelihood = probability2(obs,sqrt(H),yt_t_1_i) ;
IncrementalWeights = likelihood.*prior./proposal ;