Speeds up the Kalman smoother
parent
4e789452b2
commit
ae72105b5c
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@ -177,7 +177,7 @@ while notsteady && t<smpl
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atilde(:,t) = a(:,t) + PZI*v(di,t);
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atilde(:,t) = a(:,t) + PZI*v(di,t);
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K(:,di,t) = T*PZI;
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K(:,di,t) = T*PZI;
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L(:,:,t) = T-K(:,di,t)*ZZ;
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L(:,:,t) = T-K(:,di,t)*ZZ;
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P(:,:,t+1) = T*P(:,:,t)*T'-T*P(:,:,t)*ZZ'*K(:,di,t)' + QQ;
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P(:,:,t+1) = T*P(:,:,t)*L(:,:,t)' + QQ;
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end
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end
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a(:,t+1) = T*atilde(:,t);
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a(:,t+1) = T*atilde(:,t);
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Pf = P(:,:,t);
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Pf = P(:,:,t);
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