mirror of
https://github.com/hb9fxq/gr-digitalhf
synced 2024-11-05 05:55:53 +00:00
104 lines
2.4 KiB
C++
104 lines
2.4 KiB
C++
// -*- C++ -*-
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#include <cassert>
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#include "kalman_exp.hpp"
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#include <volk/volk.h>
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namespace gr {
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namespace digitalhf {
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filter_update::sptr kalman_exp::make(float r, float lambda) {
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return filter_update::sptr(new kalman_exp(r, lambda));
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}
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kalman_exp::kalman_exp(float r, float lambda)
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: _r(r)
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, _lambda(lambda)
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, _gain()
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, _p()
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, _temp()
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, _t1() {
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}
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kalman_exp::~kalman_exp() {
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}
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void kalman_exp::resize(size_t n) {
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if (_gain.size() == n &&
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_p.size() == n*n &&
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_temp.size() == n*n &&
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_t1.size() == n*n)
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return;
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_gain.resize(n);
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_p.resize(n*n);
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_temp.resize(n*n);
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_t1.resize(n*n);
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reset();
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}
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void kalman_exp::reset() {
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size_t const n = _gain.size();
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std::fill_n(_gain.begin(), n, 0);
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std::fill_n(_p.begin(), n*n, 0);
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for (size_t i=0; i<n; ++i)
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_p[n*i +i] = gr_complex(0.1f); // TODO?
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}
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gr_complex const* kalman_exp::update(gr_complex const* beg,
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gr_complex const* end) {
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assert(end-beg > 0);
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unsigned const n = end - beg;
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resize(n);
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// P = P/lambda
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volk_32f_s32f_multiply_32f((float*)&_p[0], (float const*)&_p[0], 1.0f/_lambda, 2*n*n);
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// gain = P*H^{\dagger}
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for (unsigned i=0; i<n; ++i) {
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_gain[i] = 0;
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volk_32fc_x2_conjugate_dot_prod_32fc(&_gain[i], &_p[n*i], beg, n);
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}
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// alpha = H*P*H^{\dagger} + R
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gr_complex alpha = 0;
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volk_32fc_x2_dot_prod_32fc(&alpha, &_gain[0], beg, n);
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alpha += _r;
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// gain = gain / real(alpha)
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volk_32f_s32f_multiply_32f((float*)&_gain[0], (float const*)&_gain[0], 1.0f/std::real(alpha), 2*n);
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// temp = 1 - G*H
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for (unsigned i=0; i<n; ++i) {
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volk_32fc_s32fc_multiply_32fc(&_temp[n*i], beg, -_gain[i], n);
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_temp[n*i+i] += 1.0f;
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}
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// T1 = temp * P
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// P = T1 * temp^{\dagger} + G*R*G^{\dagger}
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for (unsigned i=0; i<n; ++i) {
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// P = P^T so we can use a VOLK kernel below
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for (unsigned j=0; j<n; ++j)
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std::swap(_p[n*i+j], _p[n*j+i]);
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for (unsigned j=0; j<n; ++j) {
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_t1[n*i+j] = 0.0f;
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volk_32fc_x2_dot_prod_32fc(&_t1[n*i+j], &_temp[n*i], &_p[n*j], n);
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}
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for (unsigned j=0; j<n; ++j) {
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_p[n*i+j] = 0;
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volk_32fc_x2_conjugate_dot_prod_32fc(&_p[n*i+j], &_t1[n*i], &_temp[n*j], n);
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_p[n*i+j] += _r * _gain[i]*std::conj(_gain[j]);
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}
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}
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return &_gain[0];
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}
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void kalman_exp::set_parameters(std::map<std::string, float> const& p) {
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_r = p.at("r");
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_lambda = p.at("lambda");
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}
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} // namespace digitalhf
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} // namespace gr
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