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Changed logic for setting weights method in CPF.

rm-particles^2
Stéphane Adjemian (Charybdis) 2016-06-01 16:07:07 +02:00
parent 8c65631645
commit af66ea9c28
1 changed files with 3 additions and 3 deletions
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6
src/conditional_filter_proposal.m
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@ -105,7 +105,7 @@ if ParticleOptions.proposal_approximation.cubature || ParticleOptions.proposal_a
StateVectorVarianceSquareRoot = mat(number_of_observed_variables+(1:number_of_state_variables),number_of_observed_variables+(1:number_of_state_variables));
Error = obs - PredictedObservedMean ;
StateVectorMean = PredictedStateMean + (CovarianceObservedStateSquareRoot/PredictedObservedVarianceSquareRoot)*Error ;
if strcmpi(options_.particle.filter_algorithm, 'cpf1')
if options_.particle.cpf_weights_method.amisanotristani
Weights = SampleWeights.*probability2(zeros(number_of_observed_variables,1),PredictedObservedVarianceSquareRoot,Error) ;
end
else
@ -119,14 +119,14 @@ else
StateVectorMean = PredictedStateMean + KalmanFilterGain*Error ;
StateVectorVariance = PredictedStateVariance - KalmanFilterGain*PredictedObservedVariance*KalmanFilterGain';
StateVectorVarianceSquareRoot = chol(StateVectorVariance + 1e-6)' ;
if strcmpi(options_.particle.filter_algorithm, 'cpf1')
if options_.particle.cpf_weights_method.amisanotristani
Weights = SampleWeights.*probability2(zeros(number_of_observed_variables,1),chol(PredictedObservedVariance)',Error) ;
end
end
PredictedStateVarianceSquareRoot = chol(PredictedStateVariance + 1e-6)' ;
ProposalStateVector = StateVectorVarianceSquareRoot*randn(size(StateVectorVarianceSquareRoot,2),1)+StateVectorMean ;
if strcmpi(options_.particle.filter_algorithm, 'cpf2')
if options_.particle.cpf_weights_method.murrayjonesparslow
Prior = probability2(PredictedStateMean,PredictedStateVarianceSquareRoot,ProposalStateVector) ;
Posterior = probability2(StateVectorMean,StateVectorVarianceSquareRoot,ProposalStateVector) ;
Likelihood = probability2(obs,H_lower_triangular_cholesky,measurement_equations(ProposalStateVector,ReducedForm,ThreadsOptions)) ;