Add sensor models
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After Width: | Height: | Size: 28 KiB |
@ -26,15 +26,15 @@
|
||||
|
||||
Configuration file is accessible [[file:config.org][here]].
|
||||
|
||||
* Sensor Model
|
||||
#+begin_src latex :file sensor_model.pdf
|
||||
* Sensor Model - Noise
|
||||
#+begin_src latex :file sensor_model_noise.pdf
|
||||
\begin{tikzpicture}
|
||||
\node[addb](add1){};
|
||||
\node[block, right=0.5 of add1](G1){$G_i$};
|
||||
\node[block, right=0.8 of G1](Ginv1){$\hat{G}_i^{-1}$};
|
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\node[block, above=0.5 of add1](N1){$N_i$};
|
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|
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\draw[] (add1.west) -- ++(-1.0, 0) node[above right]{$x$};
|
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\draw[<-] (add1.west) -- ++(-1.0, 0) node[above right]{$x$};
|
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\draw[->] (add1.east) -- (G1.west);
|
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\draw[->] (N1.south) -- (add1.north)node[above left]{$n_i$};
|
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\draw[<-] (N1.north)node[above left](n1){$\tilde{n}_i$} -- ++(0, 0.4);
|
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@ -48,10 +48,10 @@ Configuration file is accessible [[file:config.org][here]].
|
||||
\end{tikzpicture}
|
||||
#+end_src
|
||||
|
||||
#+name: fig:sensor_model
|
||||
#+caption: Sensor Model ([[./figs/sensor_model.png][png]], [[./figs/sensor_model.pdf][pdf]]).
|
||||
#+name: fig:sensor_model_noise
|
||||
#+caption: Sensor Model ([[./figs/sensor_model_noise.png][png]], [[./figs/sensor_model_noise.pdf][pdf]]).
|
||||
#+RESULTS:
|
||||
[[file:figs/sensor_model.png]]
|
||||
[[file:figs/sensor_model_noise.png]]
|
||||
|
||||
* Sensor Fusion Architecture
|
||||
#+begin_src latex :file sensor_fusion_noise_arch.pdf
|
||||
@ -138,6 +138,36 @@ Configuration file is accessible [[file:config.org][here]].
|
||||
#+RESULTS:
|
||||
[[file:figs/h_two_optimal_fusion.png]]
|
||||
|
||||
* Sensor Model - Uncertainty
|
||||
#+begin_src latex :file sensor_model_uncertainty.pdf
|
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\begin{tikzpicture}
|
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\node[branch](b1){};
|
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\node[block, above right=0.3 and 0.25 of b1](W1){$W_i$};
|
||||
\node[block, right=0.3 of W1](delta1){$\Delta_i$};
|
||||
\node[addb, right=0.3 of b1-|delta1](add1){};
|
||||
\node[block, right=0.3 of add1](G1){$\hat{G}_i$};
|
||||
\node[block, right=0.7 of G1](Ginv1){$\hat{G}_i^{-1}$};
|
||||
|
||||
\draw[->] ($(g1)+(-0.6,0)$) node[above right]{$x$} -- (add1.west);
|
||||
\draw[->] (g1) |- (W1.west);
|
||||
\draw[->] (W1.east) -- (delta1.west);
|
||||
\draw[->] (delta1.east) -| (add1.north);
|
||||
\draw[->] (add1.east) -- (G1.west);
|
||||
\draw[->] (G1.east) -- (Ginv1.west)node[above left]{$v_i$};
|
||||
\draw[->] (Ginv1.east) -- ++(0.7, 0) node[above left]{$\hat{x}_i$};
|
||||
|
||||
\begin{scope}[on background layer]
|
||||
\node[block, fit={($(b1|-W1.north) + (-0.15, 0.15)$) ($(G1.south east)+(0.15, -0.15)$)}, fill=black!20!white, dashed, inner sep=0pt] (sensor1) {};
|
||||
\node[below left] at (sensor1.north east) {Sensor};
|
||||
\end{scope}
|
||||
\end{tikzpicture}
|
||||
#+end_src
|
||||
|
||||
#+name: fig:sensor_model_uncertainty
|
||||
#+caption: Sensor Model including dynamical uncertainty ([[./figs/sensor_model_uncertainty.png][png]], [[./figs/sensor_model_uncertainty.pdf][pdf]]).
|
||||
#+RESULTS:
|
||||
[[file:figs/sensor_model_uncertainty.png]]
|
||||
|
||||
* Sensor fusion architecture with sensor dynamics uncertainty
|
||||
#+begin_src latex :file sensor_fusion_arch_uncertainty.pdf
|
||||
\begin{tikzpicture}
|
||||
@ -269,6 +299,43 @@ Configuration file is accessible [[file:config.org][here]].
|
||||
#+RESULTS:
|
||||
[[file:figs/h_infinity_robust_fusion.png]]
|
||||
|
||||
* Sensor Model - Noise and Uncertainty
|
||||
#+begin_src latex :file sensor_model_noise_uncertainty.pdf
|
||||
\begin{tikzpicture}
|
||||
\node[addb](add1){};
|
||||
|
||||
\node[block, above=0.5 of add1](N1){$N_i$};
|
||||
\node[branch, right=0.4 of add1](b1){};
|
||||
\node[block, above right=0.3 and 0.25 of b1](W1){$W_i$};
|
||||
\node[block, right=0.3 of W1](delta1){$\Delta_i$};
|
||||
\node[addb, right=0.3 of b1-|delta1](addu){};
|
||||
\node[block, right=0.3 of addu](G1){$\hat{G}_i$};
|
||||
\node[block, right=0.7 of G1](Ginv1){$\hat{G}_i^{-1}$};
|
||||
|
||||
\draw[<-] (add1.west) -- ++(-1.0, 0) node[above right]{$x$};
|
||||
\draw[->] (add1.east) -- (addu.west);
|
||||
\draw[->] (b1) |- (W1.west);
|
||||
\draw[->] (W1.east) -- (delta1.west);
|
||||
\draw[->] (delta1.east) -| (addu.north);
|
||||
\draw[->] (addu.east) -- (G1.west);
|
||||
|
||||
\draw[->] (N1.south) -- (add1.north)node[above left]{$n_i$};
|
||||
\draw[<-] (N1.north)node[above left](n1){$\tilde{n}_i$} -- ++(0, 0.4);
|
||||
\draw[->] (G1.east) -- (Ginv1.west)node[above left]{$v_i$};
|
||||
\draw[->] (Ginv1.east) -- ++(0.7, 0) node[above left]{$\hat{x}_i$};
|
||||
|
||||
\begin{scope}[on background layer]
|
||||
\node[fit={($(G1.south east)+(0.15, -0.15)$) ($(n1.north west)$)}, fill=black!20!white, draw, dashed, inner sep=0pt] (sensor1) {};
|
||||
\node[below left, align=right] at (sensor1.north east) {Sensor};
|
||||
\end{scope}
|
||||
\end{tikzpicture}
|
||||
#+end_src
|
||||
|
||||
#+name: fig:sensor_model_noise_uncertainty
|
||||
#+caption: Sensor Model ([[./figs/sensor_model_noise_uncertainty.png][png]], [[./figs/sensor_model_noise_uncertainty.pdf][pdf]]).
|
||||
#+RESULTS:
|
||||
[[file:figs/sensor_model_noise_uncertainty.png]]
|
||||
|
||||
* Sensor fusion architecture with sensor dynamics uncertainty and noise
|
||||
#+begin_src latex :file sensor_fusion_arch_full.pdf
|
||||
\begin{tikzpicture}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user