From 2fb7c720ef62fea712b4180625f8c59a4e851cb0 Mon Sep 17 00:00:00 2001 From: Ryohei Sasaki Date: Fri, 21 Jun 2019 18:09:47 +0900 Subject: [PATCH] add reference & correct misspelling --- .../ensemble_kalman_filter/ensemble_kalman_filter.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/Localization/ensemble_kalman_filter/ensemble_kalman_filter.py b/Localization/ensemble_kalman_filter/ensemble_kalman_filter.py index 053bdf4c..38a3a0b3 100644 --- a/Localization/ensemble_kalman_filter/ensemble_kalman_filter.py +++ b/Localization/ensemble_kalman_filter/ensemble_kalman_filter.py @@ -4,6 +4,9 @@ Ensemble Kalman Filter(EnKF) localization sample author: Ryohei Sasaki(rsasaki0109) +Ref: +- [Ensemble Kalman filtering](https://rmets.onlinelibrary.wiley.com/doi/10.1256/qj.05.135) + """ import numpy as np @@ -124,7 +127,7 @@ def enkf_localization(px, xEst, PEst, z, u): px_hat=px + K @ (np.tile(z_lm_pos,(NP,1)).T- pz) xEst=np.average(px_hat, axis=1).reshape(4,1) - pEst=calc_covariance(xEst, px_hat) + PEst=calc_covariance(xEst, px_hat) return xEst, PEst, px_hat