102/error correction particle filter#17
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Pull request overview
issue #102 に関連して、PDR（歩行者自律航法）での誤差補正・可視化強化と、パーティクルフィルタの挙動改善（アニメーション保存制御、フロアマップ正規化、方位サンプリング改善等）を行うPRです。
Changes:
- Weinberg モデルのスケール係数を身長で補正する仕組み（
compute_weinberg_k/--height-m）を追加 - センサ時刻
tを使ったジャイロ角の積分・補間、出力ディレクトリ衝突回避、アニメーション保存フラグ（save_animation/--save-animation）を追加 - PF のフロアマップ正規化・方位ノイズモデル見直し、ステップベクトル画像に加速度射影プロットを追加し、回帰テストを拡充
Reviewed changes
Copilot reviewed 9 out of 10 changed files in this pull request and generated 2 comments.
Show a summary per file
| File | Description |
|---|---|
| tests/test_smoke.py | ping() と compute_weinberg_k() の簡易スモークテストを追加 |
| tests/test_pdr_regressions.py | 時刻差分でのジャイロ積分、出力Dir衝突回避、フロアマップ正規化、アニメ保存フラグの回帰テストを追加 |
| src/rikka/config.py | 身長補正付き Weinberg 係数（基準身長/基準K）と PF/歩幅推定デフォルト設定を更新 |
| src/rikka/analyze/sensor_plot.py | ステップ変位ベクトルに加え、加速度の射影（時系列/分布）を併記する描画を追加 |
| src/rikka/analyze/pdr.py | t ベースの dt 積分・角度補間、save_animation、height_m、衝突しない出力Dir生成などを追加 |
| src/rikka/analyze/particle_filter.py | フロアマップ正規化、初期方位ばらつき/方位ドリフト、経路平均の算出方法を変更 |
| src/rikka/init.py | CLI に --height-m と particle --save-animation を追加し pdr.run() に引き回し |
| README.md | --height-m と --save-animation の利用例・設定表の更新、ping の import 修正 |
| pyproject.toml | ruff の target-version を py314 に更新 |
| .gitignore | AGENTS.md を ignore 対象に変更 |
Comment on lines
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| if len(low_angle) == 0 or sample_index < 0 or sample_index >= len(low_angle): | ||
| return None | ||
| angle = float(low_angle[sample_index]) |
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| # 粒子ごとの履歴も状態として保持する。 | ||
| # 現在位置だけを時系列で平均すると、生存クラスタの切り替わりで | ||
| # 軌跡が不連続に飛ぶ。 | ||
| particle_paths = np.concatenate([particle_paths, particles[:, None, :]], axis=1) | ||
| step_lengths.append(sl_det) |
mizunoryuki
approved these changes
May 15, 2026
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issue番号
kajiLabTeam/okarin#102
変更内容(写真か動画も一緒に)
particle_filter.mp4
影響範囲(あれば)