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Add sensor models

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Thomas Dehaeze 2020-09-22 21:58:32 +02:00
parent 333f814d47
commit f091ca5411
11 changed files with 527 additions and 13 deletions
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@ -26,15 +26,15 @@
Configuration file is accessible [[file:config.org][here]]. Configuration file is accessible [[file:config.org][here]].
* Sensor Model * Sensor Model - Noise
#+begin_src latex :file sensor_model.pdf #+begin_src latex :file sensor_model_noise.pdf
\begin{tikzpicture} \begin{tikzpicture}
\node[addb](add1){}; \node[addb](add1){};
\node[block, right=0.5 of add1](G1){$G_i$}; \node[block, right=0.5 of add1](G1){$G_i$};
\node[block, right=0.8 of G1](Ginv1){$\hat{G}_i^{-1}$}; \node[block, right=0.8 of G1](Ginv1){$\hat{G}_i^{-1}$};
\node[block, above=0.5 of add1](N1){$N_i$}; \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[->] (add1.east) -- (G1.west);
\draw[->] (N1.south) -- (add1.north)node[above left]{$n_i$}; \draw[->] (N1.south) -- (add1.north)node[above left]{$n_i$};
\draw[<-] (N1.north)node[above left](n1){$\tilde{n}_i$} -- ++(0, 0.4); \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{tikzpicture}
#+end_src #+end_src
#+name: fig:sensor_model #+name: fig:sensor_model_noise
#+caption: Sensor Model ([[./figs/sensor_model.png][png]], [[./figs/sensor_model.pdf][pdf]]). #+caption: Sensor Model ([[./figs/sensor_model_noise.png][png]], [[./figs/sensor_model_noise.pdf][pdf]]).
#+RESULTS: #+RESULTS:
[[file:figs/sensor_model.png]] [[file:figs/sensor_model_noise.png]]
* Sensor Fusion Architecture * Sensor Fusion Architecture
#+begin_src latex :file sensor_fusion_noise_arch.pdf #+begin_src latex :file sensor_fusion_noise_arch.pdf
@ -138,6 +138,36 @@ Configuration file is accessible [[file:config.org][here]].
#+RESULTS: #+RESULTS:
[[file:figs/h_two_optimal_fusion.png]] [[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 * Sensor fusion architecture with sensor dynamics uncertainty
#+begin_src latex :file sensor_fusion_arch_uncertainty.pdf #+begin_src latex :file sensor_fusion_arch_uncertainty.pdf
\begin{tikzpicture} \begin{tikzpicture}
@ -269,6 +299,43 @@ Configuration file is accessible [[file:config.org][here]].
#+RESULTS: #+RESULTS:
[[file:figs/h_infinity_robust_fusion.png]] [[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 * Sensor fusion architecture with sensor dynamics uncertainty and noise
#+begin_src latex :file sensor_fusion_arch_full.pdf #+begin_src latex :file sensor_fusion_arch_full.pdf
\begin{tikzpicture} \begin{tikzpicture}