#ifndef KALMAN_H
#define KALMAN_H
#include "parameters.h"
#include "struct.h"
#include <QVector>
#include <Eigen/Dense>
using namespace Eigen;
using namespace std;


class kalman
{
public:

    void kalman_pred(double F[6][6], double Q[6][6], double X[6], double P[6][6], double X_pred[6], double P_pred[6][6]);

    void kalman_filter_init_2dots(double Z0[2], double Z1[2], double T,double X[4], double P[4][4]);//两点初始化卡尔曼滤波器


    double d_cal_track_init(double Z[2],double X[4],double P[4][4],double T);		//计算点 临时航迹的d

    double d_cal_track_init_with_doppler(double Z[2],double X[4],double P[4][4],double T,double vr,double prt,double freq_ind);

    double d_cal_track_init_EKF(double Z[3],double X[4],double P[4][4],double T,double prt,double freq_ind);

    void kalman_filter_init_3dots(double Z0[2], double Z1[2],double Z2[2], double T1,double T2, double X[6], double P[6][6]);

    double d_cal(double Z[2],double X[6],double P[6][6]);

    double d_cal_with_doppler(double F[6][6], double Q[6][6] ,double Z[2],double X[6],double P[6][6],double vr,double prt,double freq_ind);

    double d_cal_EKF(double F[6][6], double Q[6][6] ,double Z[3],double X[6],double P[6][6],double prt,double freq_ind);

    void kalman_filter(double F[6][6], double Q[6][6], double X[6],double P[6][6],double Z[2],double X_filter[6],double P_filter[6][6],double S_filter[2][2]);

    void kalman_filter_EKF(double F[6][6], double Q[6][6], double X[6],double P[6][6],double Z[3],
                           double X_filter[6],double P_filter[6][6],double S_filter[2][2],
                           double prt,double freq_ind );

    double Bind_speed(double prt,double freq_ind);	//根据PRT 和 频率 计算不模糊速度

};
#endif // KALMAN_H