Change priors and sensor uncertainty to match optimised sensor manage…

…ment tutorial
dstl · Aug 4, 2022 · 8441dba · 8441dba
1 parent 34d7749
commit 8441dba
Show file tree

Hide file tree

Showing 2 changed files with 15 additions and 15 deletions.
diff --git a/docs/tutorials/sensormanagement/01_SingleSensorManagement.py b/docs/tutorials/sensormanagement/01_SingleSensorManagement.py
@@ -184,7 +184,7 @@
 sensorA = RadarRotatingBearingRange(
     position_mapping=(0, 2),
     noise_covar=np.array([[np.radians(0.5) ** 2, 0],
-                          [0, 0.75 ** 2]]),
+                          [0, 1 ** 2]]),
     ndim_state=4,
     position=np.array([[10], [0]]),
     rpm=60,
@@ -197,7 +197,7 @@
 sensorB = RadarRotatingBearingRange(
     position_mapping=(0, 2),
     noise_covar=np.array([[np.radians(0.5) ** 2, 0],
-                          [0, 0.75 ** 2]]),
+                          [0, 1 ** 2]]),
     ndim_state=4,
     position=np.array([[10], [0]]),
     rpm=60,
@@ -233,14 +233,13 @@
 from stonesoup.types.state import GaussianState
 
 priors = []
-xdirection=1.5
-ydirection=1.5
-
+xdirection = 1.2
+ydirection = 1.2
 for j in range(0, ntruths):
-    priors.append(
-        GaussianState([[0], [xdirection], [yps[j]+0.5], [ydirection]], np.diag([1.5, 0.25, 1.5, 0.25] + np.random.normal(0, 5e-4, 4)),
-                      timestamp=start_time))
-    xdirection*=-1
+    priors.append(GaussianState([[0], [xdirection], [yps[j]+0.1], [ydirection]],
+                                np.diag([0.5, 0.5, 0.5, 0.5]+np.random.normal(0,5e-4,4)),
+                                timestamp=start_time))
+    xdirection *= -1
     if j % 2 == 0:
         ydirection *= -1
 

diff --git a/docs/tutorials/sensormanagement/02_MultiSensorManagement.py b/docs/tutorials/sensormanagement/02_MultiSensorManagement.py
@@ -139,7 +139,7 @@
     sensor = RadarRotatingBearingRange(
         position_mapping=(0, 2),
         noise_covar=np.array([[np.radians(0.5) ** 2, 0],
-                              [0, 0.75 ** 2]]),
+                              [0, 1 ** 2]]),
         ndim_state=4,
         position=np.array([[10], [n * 50]]),
         rpm=60,
@@ -157,7 +157,7 @@
     sensor = RadarRotatingBearingRange(
         position_mapping=(0, 2),
         noise_covar=np.array([[np.radians(0.5) ** 2, 0],
-                              [0, 0.75 ** 2]]),
+                              [0, 1 ** 2]]),
         ndim_state=4,
         position=np.array([[10], [n * 50]]),
         rpm=60,
@@ -195,15 +195,16 @@
 from stonesoup.types.state import GaussianState
 
 priors = []
-xdirection = 1.5
-ydirection = 1.5
+xdirection = 1.2
+ydirection = 1.2
 for j in range(0, ntruths):
-    priors.append(GaussianState([[0], [xdirection], [yps[j]+0.5], [ydirection]],
-                                np.diag([1.5, 0.25, 1.5, 0.25]+np.random.normal(0,5e-4,4)),
+    priors.append(GaussianState([[0], [xdirection], [yps[j]+0.1], [ydirection]],
+                                np.diag([0.5, 0.5, 0.5, 0.5]+np.random.normal(0,5e-4,4)),
                                 timestamp=start_time))
     xdirection *= -1
     if j % 2 == 0:
         ydirection *= -1
+
 # %%
 # Initialise the tracks by creating an empty list and appending the priors generated. This needs to be done
 # separately for both sensor manager methods as they will generate different sets of tracks.