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@johnhw
Created July 16, 2020 10:26
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{
"cells": [
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# 1D altitude tracking example\n",
"\n",
"* Assume we have an aircraft moving with altitude tracked by radar. \n",
"\n",
"* The pilot tries to hold the plane close to a given flight level\n",
"* the plane changes flight levels occasionally \n",
"* the plane continuously experiences random turbulence (assumed to be white noise in velocity). \n",
"\n",
"* The radar measures altitude, but with some noise, assumed to white Gaussian\n",
"* The radar cannot always make contact with the plane, \n",
" * it reports an altitude of 0 when contact is lost. \n",
" * We assume the radar makes and loses contact randomly, governed by a Markov chain. \n",
" \n",
"\n",
"## Simulation\n",
"\n",
"Let's generate a time series with this behaviour."
]
},
{
"cell_type": "code",
"execution_count": 1,
"metadata": {
"ExecuteTime": {
"end_time": "2020-07-15T11:06:16.242977Z",
"start_time": "2020-07-15T11:06:15.957986Z"
}
},
"outputs": [],
"source": [
"import numpy as np\n",
"import matplotlib.pyplot as plt\n"
]
},
{
"cell_type": "code",
"execution_count": 2,
"metadata": {
"ExecuteTime": {
"end_time": "2020-07-15T11:06:16.247857Z",
"start_time": "2020-07-15T11:06:16.243953Z"
}
},
"outputs": [],
"source": [
"# generate a new state of the altitude, given a previous one, and a time interval\n",
"\n",
"from collections import namedtuple\n",
"\n",
"PlaneState = namedtuple(\n",
" \"PlaneState\",\n",
" [\n",
" \"alt\", # altitude\n",
" \"d_alt\", # velocity\n",
" \"dd_alt\", # acceleration\n",
" \"flight_level\", # current intended flight level\n",
" \"radar_state\", # radar contact or not?\n",
" \"flightiness\", # how often plane changes flight levels, avg. changes per second\n",
" \"radar_noise\", # noise level in measurement\n",
" \"radar_p\", # probability of radar making contact, per sectond\n",
" \"radar_q\", # probability of radar losing contact, per second\n",
" \"radar_observed\", # observation from radar\n",
" ],\n",
")\n",
"\n",
"max_dd_alt = 1000.0"
]
},
{
"cell_type": "code",
"execution_count": 3,
"metadata": {
"ExecuteTime": {
"end_time": "2020-07-15T11:06:16.263473Z",
"start_time": "2020-07-15T11:06:16.248833Z"
}
},
"outputs": [],
"source": [
"def simulate(state, dt):\n",
" \n",
" turbulence = np.random.normal(0, 750)\n",
" radar_random = np.random.normal(0, state.radar_noise)\n",
"\n",
" \n",
" # new flight level\n",
" if np.random.uniform() < 1 - np.exp(-state.flightiness * dt):\n",
" flight_level = np.random.uniform(1000, 30000) \n",
" else:\n",
" flight_level = state.flight_level\n",
"\n",
" # random radar fluctuations, using a Gilbert markov model (i.e. switching on and off)\n",
" radar_state = state.radar_state\n",
" if state.radar_state == 0:\n",
" if np.random.uniform() < 1 - np.exp(-state.radar_p * dt):\n",
" radar_state = 1\n",
"\n",
" if state.radar_state == 1:\n",
" if np.random.uniform() < 1 - np.exp(-state.radar_q * dt):\n",
" radar_state = 0\n",
"\n",
" drag = 0.9\n",
" # integrate and return\n",
" return PlaneState( \n",
" alt=state.alt + state.d_alt * dt,\n",
" d_alt=(state.d_alt + state.dd_alt * dt + turbulence) * drag,\n",
" dd_alt=np.clip(flight_level - state.alt, -max_dd_alt, max_dd_alt),\n",
" radar_observed= (state.alt+radar_random) * radar_state,\n",
" flight_level=flight_level,\n",
" radar_state=radar_state,\n",
" radar_noise=state.radar_noise,\n",
" radar_p=state.radar_p,\n",
" radar_q=state.radar_q,\n",
" flightiness=state.flightiness,\n",
" )"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Create a simulated time series using our simulator"
]
},
{
"cell_type": "code",
"execution_count": 9,
"metadata": {
"ExecuteTime": {
"end_time": "2020-07-15T11:12:07.912776Z",
"start_time": "2020-07-15T11:12:07.891303Z"
}
},
"outputs": [],
"source": [
"# choose some parameters\n",
"my_plane = PlaneState(\n",
" alt=5000,\n",
" d_alt=0,\n",
" dd_alt=0,\n",
" flight_level = 5000,\n",
" radar_state = 1,\n",
" radar_p = 0.05,\n",
" radar_q = 0.1,\n",
" flightiness = 0.01,\n",
" radar_noise=1500,\n",
" radar_observed=0,\n",
")\n",
" \n",
"np.random.seed(2026) # reproducible seed!\n",
"track = [my_plane]\n",
"\n",
"# simulate time to generate observations\n",
"# we will use radar_observed as our observation variable\n",
"for i in range(500):\n",
" my_plane = simulate(my_plane, 1/10.0)\n",
" track.append(my_plane)\n",
"\n"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Plot the simulation"
]
},
{
"cell_type": "code",
"execution_count": 10,
"metadata": {
"ExecuteTime": {
"end_time": "2020-07-15T11:12:09.346520Z",
"start_time": "2020-07-15T11:12:09.233305Z"
}
},
"outputs": [
{
"data": {
"text/plain": [
"<matplotlib.legend.Legend at 0x1a2604bad30>"
]
},
"execution_count": 10,
"metadata": {},
"output_type": "execute_result"
},
{
"data": {
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\n",
"text/plain": [
"<Figure size 432x288 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
}
],
"source": [
"\n",
"fig, ax = plt.subplots()\n",
"ax.plot([t.alt for t in track], label='True altitude')\n",
"ax.plot([t.radar_observed for t in track], label='Radar altitude')\n",
"ax.plot([t.flight_level for t in track], label='Intended flight level')\n",
"ax.legend()"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Particle filter"
]
},
{
"cell_type": "code",
"execution_count": 11,
"metadata": {
"ExecuteTime": {
"end_time": "2020-07-15T11:12:14.432459Z",
"start_time": "2020-07-15T11:12:14.428556Z"
}
},
"outputs": [],
"source": [
"from pfilter import independent_sample, ParticleFilter, cauchy_noise, squared_error\n",
"from scipy.stats import norm, bernoulli"
]
},
{
"cell_type": "code",
"execution_count": 30,
"metadata": {
"ExecuteTime": {
"end_time": "2020-07-15T11:15:13.948785Z",
"start_time": "2020-07-15T11:15:13.938049Z"
}
},
"outputs": [],
"source": [
"## Very basic prior\n",
"prior_fn = independent_sample(\n",
" [\n",
" norm(loc=0, scale=20000).rvs, # altitude\n",
" norm(loc=0, scale=50).rvs, # velocity\n",
" norm(loc=0, scale=3).rvs, # acceleration\n",
" bernoulli(0.5).rvs, # radar state \n",
" ]\n",
")\n",
"\n",
"\n",
"dt = 1/10.0\n",
"\n",
"def dynamics(x):\n",
" # super-simple: just integrate (Euler) acceleration and velocity\n",
" x[:, 0] += x[:,1] * dt\n",
" x[:, 1] += x[:,2] * dt \n",
" return x\n",
"\n",
"# we observe the true altitude, unless the radar is off\n",
"# then we observe 0\n",
"def observe(x):\n",
" return np.where(x[:,3]<0.5, 0, x[:,0])\n",
"\n",
"def noise_fn(x):\n",
" # random diffusion\n",
" x[:,:3] = cauchy_noise(x[:,:3], sigmas=[0.1,60,0.1])\n",
" # occasional switches in expected radar state\n",
" x[:, 3] = np.abs(bernoulli(0.05).rvs(x[:,3].shape) - x[:,3])\n",
" return x\n",
"\n",
"# construct filter\n",
"pf = ParticleFilter(\n",
" prior_fn=prior_fn,\n",
" observe_fn=observe,\n",
" n_particles=100,\n",
" dynamics_fn=dynamics,\n",
" noise_fn=noise_fn,\n",
" weight_fn=lambda x, y: squared_error(x, y, sigma=5000),\n",
" resample_proportion=0.002,\n",
")"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Track and plot results"
]
},
{
"cell_type": "code",
"execution_count": 31,
"metadata": {
"ExecuteTime": {
"end_time": "2020-07-15T11:15:18.302723Z",
"start_time": "2020-07-15T11:15:14.326497Z"
}
},
"outputs": [
{
"name": "stderr",
"output_type": "stream",
"text": [
"c:\\users\\john\\dropbox\\devel\\pfilter\\pfilter\\pfilter.py:346: RuntimeWarning: divide by zero encountered in log\n",
" self.weight_entropy = np.sum(self.weights * np.log(self.weights))\n",
"c:\\users\\john\\dropbox\\devel\\pfilter\\pfilter\\pfilter.py:346: RuntimeWarning: invalid value encountered in multiply\n",
" self.weight_entropy = np.sum(self.weights * np.log(self.weights))\n"
]
},
{
"data": {
"text/plain": [
"<matplotlib.legend.Legend at 0x1a26955d710>"
]
},
"execution_count": 31,
"metadata": {},
"output_type": "execute_result"
},
{
"data": {
"image/png": 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\n",
"text/plain": [
"<Figure size 432x288 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
}
],
"source": [
"estimated = []\n",
"\n",
"fig, ax = plt.subplots()\n",
"\n",
"## plot the true and observed altitude\n",
"ax.plot([t.alt for t in track], label='True altitude')\n",
"ax.plot([t.radar_observed for t in track], label='Radar altitude')\n",
"\n",
"# feed observations and plot the filters\n",
"for i in range(len(track)):\n",
" pf.update(np.array([[track[i].radar_observed]])) \n",
" ax.scatter( np.tile(i, len(pf.original_particles)), pf.original_particles[:,0], c='C5', s=pf.weights*50, zorder=100, alpha=0.1)\n",
" \n",
"ax.set_ylim(0, 30000) \n",
"ax.legend()\n",
" "
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": []
}
],
"metadata": {
"kernelspec": {
"display_name": "Python 3",
"language": "python",
"name": "python3"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 3
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.7.3"
}
},
"nbformat": 4,
"nbformat_minor": 4
}
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