Joint Online Estimation

JointEstimator treats all variables, state or health, with a single filter.

Assembling Filters

The joint estimator requires a single filter that acts using a JointCellModelWrapper.

Create the model wrapper by supplying the CellModel and, optionally, a list of which variables to operate on.

cell_function = JointCellModelWrapper(
  cell_model=ecm,
  asoh=rint_asoh,
  transients=rint_transient,
  input_template=rint_inputs,
  asoh_inputs=('r0.base_values',),
)

Use the model to create the Filter then the filter to create the Estimator.

ukf = UKF(
  model=cell_function,
  initial_hidden=MultivariateGaussian(
    mean=np.array([0., 0., 0.05]),  # Three parameters: SOC, hysteresis, R0
    covariance=np.diag([0.01, 0.01, 0.01])
  ),
  initial_controls=MultivariateGaussian(
    mean=np.array([0., 1., 25.]),  # Three inputs: Time, Current, Temperature
    covariance=np.diag([0.001, 0.001, 0.5])
  )
)

ukf_joint = JointEstimator(joint_filter=ukf)