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Commit ee6eaa84 authored by Frédéric Karamé's avatar Frédéric Karamé
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Add the possibility of proposal approximated with Monte Carlo.

parent 427e88e6
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Showing with 7 additions and 3 deletions
src/gaussian_filter_bank.m
View file @ ee6eaa84
......@@ -71,7 +71,11 @@ if isempty(init_flag2)
init_flag2 = 1;
end
if ParticleOptions.proposal_approximation.cubature || ParticleOptions.proposal_approximation.montecarlo
if ParticleOptions.proposal_approximation.montecarlo
nodes = randn(ParticleOptions.number_of_particles,number_of_state_variables+number_of_structural_innovations) ;
weights = 1/ParticleOptions.number_of_particles ;
weights_c = weights ;
elseif ParticleOptions.proposal_approximation.cubature
[nodes,weights] = spherical_radial_sigma_points(number_of_state_variables+number_of_structural_innovations) ;
weights_c = weights ;
elseif ParticleOptions.proposal_approximation.unscented
......@@ -118,5 +122,5 @@ else
StateVectorMean = PredictedStateMean + KalmanFilterGain*PredictionError;
StateVectorVariance = PredictedStateVariance - KalmanFilterGain*PredictedObservedVariance*KalmanFilterGain';
StateVectorVariance = .5*(StateVectorVariance+StateVectorVariance');
StateVectorVarianceSquareRoot = chol(StateVectorVariance)'; %reduced_rank_cholesky(StateVectorVariance)';
end
\ No newline at end of file
StateVectorVarianceSquareRoot = reduced_rank_cholesky(StateVectorVariance)';
end
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