states.EnsembleUpdate
class EnsembleUpdate:Deterministic ETKF measurement update for matched tracklet-detection pairs.
Works entirely in the ``E``-dimensional ensemble space (``H = I``,
``R = r I``): forms the analysis-error covariance
``Pa = [(E-1) I + r^{-1} A A^T]^{-1}``, the mean weights
``Pa r^{-1} A (z - x̄)``, and a symmetric-square-root transform of the
perturbations, then maps back to state space. No random perturbed
observations. Unmatched tracklets keep their predicted ensemble.
Parameters
| Name | Type | Description |
|---|---|---|
| field | str | Primary mean field. |
| meas_field | str | Detection field holding the measurement. |
| r = 0.1 | float | Measurement-noise scale. |
Members
property
- ensemble_fieldReturn the ensemble-members field name.
- field
- meas_field
- r
Source: unitrack/states/kalman/ensemble.py:96