library("xplore")
library("plot")
library("kalman")
T=50
e=0.1
mu = #(20,0)
Sig = #(0,0)~#(0,0)
H = #(0.3,-0.3)~#(1,1)
F = #(1,0)~#(1,0)
R = #(0,0)~#(0,9)
mid=#(0,0)
Qid= #(9,0)~#(0,9)
mcont=#(25,30)
Qcont=0.1.*Qid
AOr=0.1
randomize(0)
ErrX = epscontnorm(T,0,mid,R,mcont,Qcont,0)
ErrY = epscontnorm(T,AOr,mid,Qid,mcont,Qcont,0)
sim = kemitor2(T,mu,H,F,(ErrY.X),(ErrX.X))
y=sim.Y
Xact=sim.X
N=10000
eps=0.01
itmax=15
aus=4
ergLS=calibrLS(T,Sig,H,F,Qid,R,e,N,eps,itmax,aus)
b=ergLS.b
res = kfilter2(y,mu,Sig, H,F,Qid,R)
fx = res.filtX
res= rlsfil(y,mu,Sig, H,F,Qid,R,b)
frx = res.filtX
i=(1:T)
Xact1 = i~(Xact[,1])
Xact1 = setmask(Xact1, "line", "blue", "thin")
fx1 = i~(fx[,1])
fx1 = setmask(fx1, "line", "red", "thin")
frx1= i~(frx[,1])
frx1 = setmask(frx1, "line", "green", "thin")
ym1=max(vec( (Xact[,1])~(fx[,1])~(frx[,1]) ) ) ;Ind-flags on top of graphics
ym2=min(vec( (Xact[,1])~(fx[,1])~(frx[,1]) ) ) ;clip-flags on bottom of graphics
flagInd=i~(ErrY.Ind)
flagInd=paf(flagInd,flagInd[,2]==1)
flagInd[,2]=ym1*((ym1>0)*1.1+(ym1<0)*0.9)
flagclip=i~(res.clipInd)
flagclip=paf(flagclip,flagclip[,2]==1)
flagclip[,2]= ym2*((ym2<0)*1.1+(ym2>0)*0.9)
setmaskp(flagInd,4, 3, 4)
setmaskp(flagclip,2, 4, 4)
disp = createdisplay(1,2)
show(disp,1,1,Xact1,fx1,frx1,flagInd,flagclip)
setgopt(disp,1,1, "title", "simulated Model under AO -- 1st coord.")
setgopt(disp,1,1, "xlabel", "t")
setgopt(disp,1,1, "ylabel", "x, rLS, Kalman")
Xact2 = i~(Xact[,2])
Xact2 = setmask(Xact2, "line", "blue", "thin")
fx2 = i~(fx[,2])
fx2 = setmask(fx2, "line", "red", "thin")
frx2= i~(frx[,2])
frx2 = setmask(frx2, "line", "green", "thin")
ym1=max(vec( (Xact[,2])~(fx[,2])~(frx[,2]) ) )
ym2=min(vec( (Xact[,2])~(fx[,2])~(frx[,2]) ) )
flagInd[,2]=ym1*((ym1>0)*1.1+(ym1<0)*0.9)
flagclip[,2]= ym2*((ym2<0)*1.1+(ym2>0)*0.9)
setmaskp(flagInd,4, 3, 4)
setmaskp(flagclip,2, 4, 4)
show(disp,1,2,Xact2,fx2,frx2,flagInd,flagclip)
setgopt(disp,1,2, "title", "simulated Model under AO -- 2nd coord.")
setgopt(disp,1,2, "xlabel", "t")
setgopt(disp,1,2, "ylabel", "x, rLS, Kalman")