kalman-filter/lib/observation/sensor-local-variance.js

Kalman filter (and Extended Kalman Filter) Multi-dimensional implementation in Javascript

const {identity} = require('simple-linalg');
const {buildObservation} = require('../model-collection');
/**
* @param {Object} options
* @param {Number} options.sensorDimension
* @param {CovarianceParam} options.sensorCovariance
* @param {Number} options.nSensors
* @returns {ObservationConfig}
*/

const nullableSensor = function (options) {
	const {dimension, observedProjection, covariance: baseCovariance} = buildObservation(Object.assign({}, options, {name: 'sensor'}));

	return {
		dimension,
		observedProjection,
		covariance(o) {
			const covariance = identity(dimension);
			const {variance} = o;

			variance.forEach((v, i) => {
				covariance[i][i] = v * baseCovariance[i][i];
			});

			return covariance;
		},
	};
};

module.exports = nullableSensor;