From f091ca5411c24a3e5f04f2d4f269eb75522a2ef9 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Tue, 22 Sep 2020 21:58:32 +0200 Subject: [PATCH] Add sensor models --- tikz/figs/sensor_model.png | Bin 11529 -> 0 bytes ...ensor_model.pdf => sensor_model_noise.pdf} | Bin 72616 -> 72623 bytes tikz/figs/sensor_model_noise.png | Bin 0 -> 11807 bytes ...ensor_model.svg => sensor_model_noise.svg} | 21 +- tikz/figs/sensor_model_noise_uncertainty.pdf | Bin 0 -> 73594 bytes tikz/figs/sensor_model_noise_uncertainty.png | Bin 0 -> 17273 bytes tikz/figs/sensor_model_noise_uncertainty.svg | 249 ++++++++++++++++++ tikz/figs/sensor_model_uncertainty.pdf | Bin 0 -> 72648 bytes tikz/figs/sensor_model_uncertainty.png | Bin 0 -> 12112 bytes tikz/figs/sensor_model_uncertainty.svg | 191 ++++++++++++++ tikz/index.org | 79 +++++- 11 files changed, 527 insertions(+), 13 deletions(-) delete mode 100644 tikz/figs/sensor_model.png rename tikz/figs/{sensor_model.pdf => sensor_model_noise.pdf} (98%) create mode 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/tikz/index.org b/tikz/index.org index 9bad095..f03b6cb 100644 --- a/tikz/index.org +++ b/tikz/index.org @@ -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){$\hat{G}_i^{-1}$}; \node[block, above=0.5 of add1](N1){$N_i$}; - \draw[] (add1.west) -- ++(-1.0, 0) node[above right]{$x$}; + \draw[<-] (add1.west) -- ++(-1.0, 0) node[above right]{$x$}; \draw[->] (add1.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); @@ -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 + \begin{tikzpicture} + \node[branch](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](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}