I have a question regarding using kalman filter with data fusion
Assume there is a moving target that we would like to track starting from time t = 0. A camera delivers the target position every 50 ms and a radar also delivers the target position every 60 ms (assuming both sensor deliveries start at t = 0). If we want to estimate the target position at t = 160 ms using a Kalman filter to fuse both camera and radar deliveries, how many predictions and updates should we perform?
I don't know if the kalman filter will use the camera frequency as a proper frequency to do its prediction and update step.
I found an answer that tells :
503 = 150 ms → 3 updates for the camera
602 = 120 ms → 2 updates for the radar
And then, at 150 ms, we can have one prediction using both camera and radar deliveries. So we can know the target position at 160 ms.
But I'm not sure if it is correct ?
Related
I have an application that can generate 50 data in 1 second,which means the sampling_rate of my application is 50Hz. then theb data type is timeseries. then I make my data like below before training.
steps= 50
inp = []
out = []
for i in range(len(data_scaled_out) - (steps)):
inp.append(data_scaled_in[i:i+steps])
out.append(data_scaled_out[i+steps])
Data shape is (50,89)
if I use data shape (50,89) is it the same I change the model's sampling rate to 1Hz? means that the model can only predict 1 data in 1 second? because my professor said that if I use the input shape (50.89) it is the same as me downsampling the frequency. Is that true?
I have 4-dimensional data points stored in my MySQL database in server. One time dimension data with three spatial GPS data (lat, lon, alt). GPS data are sampled by 1 minute timeframe for thousands of users and are being added to my server 24x7.
Sample REST/post json looks like,
{
"id": "1005",
"location": {
"lat":-87.8788,
"lon":37.909090,
"alt":0.0,
},
"datetime": 11882784
}
Now, I need to filter out all the candidates (userID) whose positions were within k meters distance from a given userID for a given time period.
Sample REST/get query params for filtering looks like,
{
"id": "1001", // user for whose we need to filter out candidates IDs
"maxDistance":3, // max distance in meter to consider (euclidian distance from users location to candidates location)
"maxDuration":14 // duration offset (in days) from current datetime to consider
}
As we see, thousands of entries are inserted in my database per minute which results huge number of total entries. Thus to iterate over for all the entries for filtering, I am afraid trivial naive approach won't be feasible for my current requirement. So, what algorithm should I implement in the server? I have tried to implement naive algorithm like,
params ($uid, $mDis, $mDay)
1. Init $candidates = []
2. For all the locations $Li of user with $uid
3. For all locations $Di in database within $mDay
4. $dif = EuclidianDis($Li, $Di)
5. If $dif < $mDis
6. $candidates += userId for $Di
7. Return $candidates
However, this approach is very slow in practice. And pre calculation might not be feasible as it costs huge space for all userIDs. What other algorithm can improve efficiency?
You could implement a spatial hashing algorithm to efficiently query your database for candidates within a given area/time.
Divide the 3D space into a 3D grid of cubes with width k, and when inserting a data-point into your database, compute which cube the point lies in and compute a hash value based on the cube co-ordinates.
When querying for all data-points within k of another datapoint d, compute the cube that d sits in, and find the 8 adjacent cubes (+/- 1 in each dimension). Compute the hash values of the 9 cubes and query your database for all entries with these hash values within the given time period. You will have small candidate set from which you can then iterate over to find all datapoints within k of d.
If your value of k can range between 2-5 meters, give your cubes a width of 5.
Timestamps can be stored as a separate field, or alternatively you can make your cubes 4-dimensional and include the timestamp in the hash, and search 27 cubes instead of 9.
I am working with the Google Places API making an application that will grab place data and display it to users based on their location but I am getting some odd behaviour with the API it is as follows:
I will make a couple different requests such as:
https://maps.googleapis.com/maps/api/place/radarsearch/json?location=40.7128,-74.0059&radius=50000&type=restaurant&key=(api-key)
(This is New York City) But even with a 50km radius I get < 200 results which is the advertised max result count. There should be significantly more than 187 (my result count) restaurants within a 50km radius of that point in New York City.
I also tried this in Vancouver, BC, Canada:
https://maps.googleapis.com/maps/api/place/radarsearch/json?location=49.256639,%20-123.097963&radius=50000&type=restuarant&key=(api-key)
And I got 198 results, when I know for a fact there are thousands of restaurants in the Greater Vancouver Area. As can be seen below this is a 50 Km radius circle over Vancouver.
As my application depends on having that hard max (200) to determine if the radius needs to shrink or grow this behaviour seems out of the ordinary. I do know it used to work this way as an older application of mine was able to use the hard max to shrink/grow dynamically on calls.
I am trying to get the current traffic conditions at a particular location. The GTrafficOverlay object mentioned here only provides an overlay on an existing map.
Does anyone know how I can get this data from Google using their API?
It is only theorical, but there is perhaps a way to extract those data using the distancematrix api.
Method
1)
Make a topological road network, with node and edge, something like this:
Each edge will have four attributes: [EDGE_NUMBER;EDGE_SPEED;EDGE_TIME,EDGE_LENGTH]
You can use the openstreetmap data to create this network.
At the begining each edge will have the same road speed, for example 50km/h.
You need to use only the drivelink and delete the other edges. Take also into account that some roads are oneway.
2)
Randomly chose two nodes that are not closer than 5 or 10km
Use the dijsktra shortest path algorithm to calculate the shortest path between this two nodes (the cost = EDGE_TIME). Use your topological network to do that. The output will look like:
NODE = [NODE_23,NODE_44] PATH = [EDGE_3,EDGE_130,EDGE_49,EDGE_39]
Calculate the time needed to drive between the two nodes with the distance matrix api.
Preallocate a matrix A of size N X number_of_edge filled with zero value
Preallocate a matrix B of size 1 X number_of_edge filled with zero value
In the first row of matrix A fill each column (corresponding to each edge) with the length of the edge if the corresponding edge is in the path.
[col_1,col_2,col_3,...,col_39,...,col_49,...,col_130]
[0, 0, len_3,...,len_39,...,len_49,...,len_130] %row 1
In the first row of matrix B put the time calculated with the distance matrix api.
Then select two news node that were not used in the first path and repeat the operation until that there is no node left. (so you will fill the row 2, the row 3...)
Now you can solve the linear equation system: Ax = B where speed = 1/x
Assign the new calculated speed to each edge.
3)
Iterate the point 2) until your calculated speed start to converge.
Comment
I'm not sure that the calculated speed will converge, it will be interesting to test the method.I will try to do that if I got some time.
The distance matrix api don't provide a traveling time more precise than 1 minute, that's why the distance between the pair of node need to be at least 5 or 10 or more km.
Also this method fails to respect the Google's terms of service.
Google does not make available public API for this data.
Yahoo has a feed (example) with traffic conditions -- construction, accidents, and such. A write-up on how to access it is here.
If you want actual road speeds, you will probably need to work with a commercial provider.
I am reverse engineering a transportation visualization app. I need to find out the latitude for the origin of their data feed. Specifically what XY 0,0 is. The only formulas I have found calculate distance between two points, or location of a bearing/distance.
They use the XY to display a map in a very legacy application. The XY is in FEET.
I have these coordinates:
47.70446615506108, -122.34469839507263: x=1268314, y=260622
47.774182540800616,-122.3412994737105: x=1269649, y=286031
47.60024792289405, -122.32767331735774: x=1271767, y=222532
47.57012494413499, -122.29129609983679: x=1280532, y=211374
I need to find out what the latitude and longitude of x=0, y=0 is and what the formula would be to find this out.
They have two data feeds, one is more current than the other. The feed with the most current data does NOT include latitude, longitude, but only XY. I am trying to extrapolate based on their less current, yet more informative (includes lat, lon) data feed what 0,0 is so I can simply convert their (more current) data feed's XY coordinates to latitude and longitude.
If you look at the first 2 lines of data, and subtract the latitude
47.7044 - 47.7741 = -0.06972 degrees
There are 60 nautical miles per degree of latitude, and 6076 feet per nautical mile.
-.06972 * 60 * 6076 = 25,415 ft
Subtracting the two 'Y' values:
260662 - 286031 = 25,409 ft
So indeed that seems to prove the X and Y values are in feet.
If you take any of the Y values, and convert back to degrees, for example
260622 ft / ( 6076 ft/nm ) / ( 60 nm/degree ) = .71
286031 ft / 6076 / 60 = .78
So subtracting those values from the latitudes of (47.70 and 47.77) gives you very close to exactly 47 degrees, which should be your y=0 point.
For longitude, a degree is 60 nautical miles at the equator and 0 miles at the poles. So the number of miles per degree has to be multiplied by the cosine of the latitude, so approx cos(47 degrees), or .68. So instead of 6076 nm per degree, it's about 4145 nm.
So for the X values,
1268314 ft / ( 4145 ft/nm ) / ( 60 nm/degree ) = 5.10 degrees
1269649 ft / 4145 / 60 = 5.10 degrees
These X numbers increase as the latitude increases (less negative), so I believe you should add 5.1 degrees, which means the X base point is about
-122.3 + 5.1 = 117.2 West longitude for your x=0 point.
This is roughly the position of Spokane WA.
So given X=1280532, Y=211374
Lat = 47 + ( 211374 / 6096 / 60 ) = 47.58
Lon = -117.2 - ( 1280532 / ( 6096 * cos(47.58)) / 60 ) = -122.35
Which is roughly equivalent to the given data 47.57 and -122.29
The variance may be due to different projections - the X,Y system may be a "flattened" projection as opposed to lat/long which apply to a spherical projection? So to be accurate you may yet need more advanced math or that open source library :)
This question may also be helpful, it contains code for calculating great circle distances:
Calculate distance between two latitude-longitude points? (Haversine formula)
There are many different coordinate systems. You need to find out the what the coordinate systems are for both the lat/lon's (e.g. WGS84 etc) and x/y's first (e.g. some sort of projected system probably).
Once you have that information there are several tools you can use to do conversions and manipulations. One example (of a free open source coding library) is proj4.
Ask them what coordinate system they're using! (or if you got the dataset from some database, look at the metadata for the dataset and it should tell you. Otherwise I'd be skeptical of its value)
Most likely this is one of the state plane coordinate systems. They're for localized areas of the earth (kind of like UTM), and are frequently used for surveying.
You can use CORPSCON (or other GIS programs; ExpertGPS will do this if you have the GIS Option Pack but it's not free. I forget whether GPSBabel does conversion) to convert between lat/long and any of the state plane coordinate systems. You'll also need to know which datum the coordinates are in. WGS84 and NAD83 are very close but NAD27 is different.
You've got good advice on coordinate systems already, so I'll just chime in with the library I've used with great success in the past.
Geotrans is approved for use by the US Department of Defence, so you can be sure that it is well tested. You can grab it from here:
http://earth-info.nga.mil/GandG/geotrans/index.html
That might not be the right link as that page talks about the application, not the library. I expect the library is in the Developers package. Licensing terms were very liberal from memory, but make sure you review the terms before using it commercially.
Edit:
An interesting discussion on Geotrans licensing can be found here:
http://www.mail-archive.com/debian-legal#lists.debian.org/msg39263.html
Over here, I said this:
In Java, I would use the OpenMap converter from a point's expression in UTM to one using Latitude and Longitude (assuming a WGS-84 ellipsoid which is most commonly used in GPS).
OpenMap is open source and I would post a link to their download page but they have a short license script in the way. So, to avoid being rude, I won't deep link. Instead, head to their homepage and click Downloads.
That should either solve your problem directly or at least point you towards a useful algorithm.
I've used Brenor Brophey's gPoint PHP class to do this on a couple of occasions. Solid results, GPL code, and easily deployed. Recommended.