PPT Slide

• Matrix module: defines matrix operations

  • .times. A.times.B
  • .transpose. .transpose.A
  • .invert. .invert.B
  • +/- already “overloaded” to understand matrices in FORTRAN 90

• Kalman module

  • contains data structure declarations for Kalman filtering
  • contains procedures for Kalman filtering
    • KalFit
    • KalInit
    • KalFilter
    • KalSmooth
    • KalExtrapolate

• Structures

  TYPE hit_type
  
  REAL, DIMENSION(4,1):: Xp,Xf,Xs
  REAL, DIMENSION(4,4):: Cp, Cf, Cs, F
  REAL, DIMENSION(1,1):: Xm, V
  REAL:: Chi2
  END TYPE hit_type
  TYPE(hit_type), TARGET::hitU(MAXHITS), hitV(MAXHITS) .
  

• Driving subroutine

SUBROUTINE KalFit

IMPLICIT NONE

CALL KalInit

CALL KalRead

DO iterate =1, nIterate

CALL KalFilter

CALL KalSmooth

END DO

END SUBROUTINE KalFit

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