rtsSmoothing.cpp File Reference

Functions
Architecture	RTS_Smoothing__ ()
	Rauch-Tung-Striebel Smoothing.
void	postRTSActions (bool final, KFState &kfStateIn, ReceiverMap &receiverMap)
void	RTS_Output (KFState &kfState, ReceiverMap &receiverMap)
	Output filter states in chronological order from a reversed binary trace file.
void	rtsSmoothing (KFState &kfState, ReceiverMap &receiverMap, bool write)
	Iterate over stored filter states in reverse and perform filtering.

Function Documentation

postRTSActions()

void postRTSActions	(	bool	final,
		KFState &	kfStateIn,
		ReceiverMap &	receiverMap )

Parameters

final	This is a final answer, not intermediate - output to files
kfStateIn	State to get filter traces from
receiverMap	map of receivers

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RTS_Output()

void RTS_Output	(	KFState &	kfState,
		ReceiverMap &	receiverMap )

Output filter states in chronological order from a reversed binary trace file.

Parameters

kfState	State to get filter traces from
receiverMap	map of receivers

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RTS_Smoothing__()

Architecture RTS_Smoothing__

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Rauch-Tung-Striebel Smoothing.

Combine estimations using filtered data from before and after each epoch. Complete filter vectors and matrices are stored in a binary file that is able to be read in reverse.

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rtsSmoothing()

void rtsSmoothing	(	KFState &	kfState,
		ReceiverMap &	receiverMap,
		bool	write )

Iterate over stored filter states in reverse and perform filtering.

Saves filtered states to a secondary binary file, which is in reverse-chronological order due to the save sequence. Most serial objects that are processed are merely stored or accumulated as prerequisites for the FILTER_PLUS object, which contains the state of the filter immediately after the update step. At that stage, the previously smoothed (next chronologically) filter state is combined with the next filter minus state (immediately before the next chronological update step), any state transitions, and the filter plus state, using the standard rts algorithm. The filtered state and a measurements object which has updated residuals are then stored in a binary file. If intermediate outputs are enabled (rare) it performs some outputs using each filter state, but typically outputs all states chronologically after the reverse running rts procedure has reached the first epoch and all data is available for output in the correct sequence.

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