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- function T = truth(seed);
- %
- % Generate truth signals
- %
- % Input:
- % seed: random number seed (allows it to generate repeatable results)
- %
- % Output:
- % T: truth struct with fields...
- % L: actual levels struct w/ fields
- % L.C (constant)
- % L.F (filling)
- % L.S (sloshing)
- % L.FS (filling and sloshing)
- % L.S0 (slosh around 0)
- % m: measured values struct
- % level/linear fields m.l.C, m.l.F, m.l.S, m.l.FS
- % angle/nonlinear fields m.a.C, m.a.F, m.a.S, m.a.FS
- % ts: time steps [second]
- %
- % misc globals
- d2r = pi/180.0; % constant to convert [degree] to [radian]
- r2d = 180.0/pi; % constant to convert [radian] to [degree]
- % seed random number generator
- randn('state',seed);
- % temporal parameters
- T.stime = 5; % length of sim [second]
- T.mrate = 50; % measurement rate [1/second]
- T.nmeas = T.stime*T.mrate + 1;
- % water level limits
- T.L_min = 0.3; % where start filling, etc. [meter]
- T.L_max = 1.0; % full [meter]
- % Angular/non-linear float parameters
- T.db = T.L_max + 0.02; % base for angular sensor, just above the max water [meter]
- T.df = 1.25*T.db; % angular sensor arm w/ float, long enough to hit bottom on empty [meter]
- T.ka = 1.0;
- % Level/linear float parameters
- T.kl = 1.0;
- % measurement noise magnitudes
- T.srl_m = 0.01*T.L_max; % stdev of level/linear sensor noise [meter]
- T.sra_d = 0.01*90; % stdev of angule/non-linear sensor noise [degree]
- % Filling parameters
- T.delay = 1; % delay to start of filling [second]
- frate = (T.L_max - T.L_min) / (T.stime - T.delay + 1/T.mrate); % fill rate [meter/second]
- fmeas = frate/T.mrate; % amount filled per measurement [meter/meas]
- mf = T.delay*T.mrate; % meas of first fill motion
- % Sloshing (sinusoidal) parameters
- T.sf = 10/T.stime; % slosh/sin frequency [1/second]
- T.sp = 0; % slosh phase [degree]
- T.sm = 0.05; % slosh magnitude [meter]
- %
- % Generate signals
- %
- % Four possibilities
- % 1. Constant level (C)
- % 2. Filling (F)
- % 3. Sloshing (S)
- % 4. Filling + Sloshing (FS)
- %
- % sample times
- T.ts = 0:1/T.mrate:T.stime;
- % noise signals for each sensor type
- n.l = T.srl_m*randn(1,T.nmeas); % level/linear noise
- n.a = T.sra_d*randn(1,T.nmeas); % angle/non-linear noise
- %
- % actual/true levels (generate same number/resolution as measurements)
- %
- % 1. Constant level (C)
- % see equation (1) in document "models"
- L.C = repmat(T.L_min,1,T.nmeas); % constant signal
- m.l.C = T.kl*L.C + n.l; % level measured = signal + level/linear noise
- m.a.C = T.ka*r2d*asin((T.db-L.C)/T.df) + n.a; % angle measured = signal + angle/non-linear noise
- % 2. Filling (F)
- % see equation (2) in document "models"
- L.F = zeros(1,T.nmeas);
- L.F(1:mf-1) = T.L_min;
- L.F(mf:T.nmeas) = T.L_min:fmeas:T.L_max;
- m.l.F = T.kl*L.F + n.l; % level measured = signal + level/linear noise
- m.a.F = T.ka*r2d*asin((T.db-L.F)/T.df) + n.a; % angle measured = signal + angle/non-linear noise
- % 3. Sloshing (S)
- % see equation (3) in document "models"
- L.S0 = T.sm*sin(2*pi*T.ts*T.sf + T.sp*d2r); % around 0
- L.S = T.L_min + L.S0;
- m.l.S = T.kl*L.S + n.l; % level measured = signal + level/linear noise
- m.a.S = T.ka*r2d*asin((T.db-L.S)/T.df) + n.a; % angle measured = signal + angle/non-linear noise
- % 4. Filling + Sloshing (FS)
- % see equations (2) and (3) in document "models"
- L.FS = L.F + L.S0; % sum of filling and sloshing (slosh around 0 not min)
- m.l.FS = T.kl*L.FS + n.l; % level measured = signal + level/linear noise
- m.a.FS = T.ka*r2d*asin((T.db-L.FS)/T.df) + n.a; % angle measured = signal + angle/non-linear noise
- % put true Level and measurement information in struct
- T.L = L;
- T.m = m;
- return
- ?unction T = truth(seed);
- %
- % Generate truth signals
- %
- % Input:
- % seed: random number seed (allows it to generate repeatable results)
- %
- % Output:
- % T: truth struct with fields...
- % L: actual levels struct w/ fields
- % L.C (constant)
- % L.F (filling)
- % L.S (sloshing)
- % L.FS (filling and sloshing)
- % L.S0 (slosh around 0)
- % m: measured values struct
- % level/linear fields m.l.C, m.l.F, m.l.S, m.l.FS
- % angle/nonlinear fields m.a.C, m.a.F, m.a.S, m.a.FS
- % ts: time steps [second]
- %
- % misc globals
- d2r = pi/180.0; % constant to convert [degree] to [radian]
- r2d = 180.0/pi; % constant to convert [radian] to [degree]
- % seed random number generator
- randn('state',seed);
- % temporal parameters
- T.stime = 5; % length of sim [second]
- T.mrate = 50; % measurement rate [1/second]
- T.nmeas = T.stime*T.mrate + 1;
- % water level limits
- T.L_min = 0.3; % where start filling, etc. [meter]
- T.L_max = 1.0; % full [meter]
- % Angular/non-linear float parameters
- T.db = T.L_max + 0.02; % base for angular sensor, just above the max water [meter]
- T.df = 1.25*T.db; % angular sensor arm w/ float, long enough to hit bottom on empty [meter]
- T.ka = 1.0;
- % Level/linear float parameters
- T.kl = 1.0;
- % measurement noise magnitudes
- T.srl_m = 0.01*T.L_max; % stdev of level/linear sensor noise [meter]
- T.sra_d = 0.01*90; % stdev of angule/non-linear sensor noise [degree]
- % Filling parameters
- T.delay = 1; % delay to start of filling [second]
- frate = (T.L_max - T.L_min) / (T.stime - T.delay + 1/T.mrate); % fill rate [meter/second]
- fmeas = frate/T.mrate; % amount filled per measurement [meter/meas]
- mf = T.delay*T.mrate; % meas of first fill motion
- % Sloshing (sinusoidal) parameters
- T.sf = 10/T.stime; % slosh/sin frequency [1/second]
- T.sp = 0; % slosh phase [degree]
- T.sm = 0.05; % slosh magnitude [meter]
- %
- % Generate signals
- %
- % Four possibilities
- % 1. Constant level (C)
- % 2. Filling (F)
- % 3. Sloshing (S)
- % 4. Filling + Sloshing (FS)
- %
- % sample times
- T.ts = 0:1/T.mrate:T.stime;
- % noise signals for each sensor type
- n.l = T.srl_m*randn(1,T.nmeas); % level/linear noise
- n.a = T.sra_d*randn(1,T.nmeas); % angle/non-linear noise
- %
- % actual/true levels (generate same number/resolution as measurements)
- %
- % 1. Constant level (C)
- % see equation (1) in document "models"
- L.C = repmat(T.L_min,1,T.nmeas); % constant signal
- m.l.C = T.kl*L.C + n.l; % level measured = signal + level/linear noise
- m.a.C = T.ka*r2d*asin((T.db-L.C)/T.df) + n.a; % angle measured = signal + angle/non-linear noise
- % 2. Filling (F)
- % see equation (2) in document "models"
- L.F = zeros(1,T.nmeas);
- L.F(1:mf-1) = T.L_min;
- L.F(mf:T.nmeas) = T.L_min:fmeas:T.L_max;
- m.l.F = T.kl*L.F + n.l; % level measured = signal + level/linear noise
- m.a.F = T.ka*r2d*asin((T.db-L.F)/T.df) + n.a; % angle measured = signal + angle/non-linear noise
- % 3. Sloshing (S)
- % see equation (3) in document "models"
- L.S0 = T.sm*sin(2*pi*T.ts*T.sf + T.sp*d2r); % around 0
- L.S = T.L_min + L.S0;
- m.l.S = T.kl*L.S + n.l; % level measured = signal + level/linear noise
- m.a.S = T.ka*r2d*asin((T.db-L.S)/T.df) + n.a; % angle measured = signal + angle/non-linear noise
- % 4. Filling + Sloshing (FS)
- % see equations (2) and (3) in document "models"
- L.FS = L.F + L.S0; % sum of filling and sloshing (slosh around 0 not min)
- m.l.FS = T.kl*L.FS + n.l; % level measured = signal + level/linear noise
- m.a.FS = T.ka*r2d*asin((T.db-L.FS)/T.df) + n.a; % angle measured = signal + angle/non-linear noise
- % put true Level and measurement information in struct
- T.L = L;
- T.m = m;
- return
- ?
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