- Upgraded the matrix processing functions in HCMatrixObject class wh…

…ich now use core functions of the Surge Library

- small Compile Sources bug fix
- small Location Accuracy bug in main kalmanFilter function fixed
- Podspec and README.md file updated

HCKalmanFilter Sample/HCKalmanFilter Sample.xcodeproj/project.pbxproj

@@ -7,6 +7,8 @@
 	objects = {
 
 /* Begin PBXBuildFile section */
+		4589712C201883FB00030DEE /* HCMatrixObject.swift in Sources */ = {isa = PBXBuildFile; fileRef = A5B6E33F1F714DD600992EC9 /* HCMatrixObject.swift */; };
+		4589712D201883FE00030DEE /* HCKalmanAlgorithm.swift in Sources */ = {isa = PBXBuildFile; fileRef = A5B6E33E1F714DD600992EC9 /* HCKalmanAlgorithm.swift */; };
 		A5D3597C1F713FD200B436D5 /* AppDelegate.swift in Sources */ = {isa = PBXBuildFile; fileRef = A5B6E3311F713EE700992EC9 /* AppDelegate.swift */; };
 		A5D3597D1F713FD400B436D5 /* Assets.xcassets in Resources */ = {isa = PBXBuildFile; fileRef = A5B6E3321F713EE700992EC9 /* Assets.xcassets */; };
 		A5D3597E1F713FDA00B436D5 /* LaunchScreen.storyboard in Resources */ = {isa = PBXBuildFile; fileRef = A5B6E3331F713EE700992EC9 /* LaunchScreen.storyboard */; };
@@ -268,8 +270,10 @@
 			files = (
 				A5D359861F71409C00B436D5 /* ViewController.swift in Sources */,
 				A5D359821F713FE500B436D5 /* MapService.swift in Sources */,
+				4589712D201883FE00030DEE /* HCKalmanAlgorithm.swift in Sources */,
 				A5D3597C1F713FD200B436D5 /* AppDelegate.swift in Sources */,
 				A5D359831F713FE900B436D5 /* AppNotify.swift in Sources */,
+				4589712C201883FB00030DEE /* HCMatrixObject.swift in Sources */,
 			);
 			runOnlyForDeploymentPostprocessing = 0;
 		};

HCKalmanFilter.podspec

@@ -2,7 +2,7 @@ Pod::Spec.new do |s|
 
 s.platform = :ios
 s.name             = "HCKalmanFilter"
-s.version          = "1.1.0"
+s.version          = "1.2.0"
 s.summary          = "HCKalmanFilter is Swift implementation of Kalman filter algorithm intended to solve problem with GPS tracking"
 
 s.description      = <<-DESC
@@ -17,4 +17,6 @@ s.source           = { :git => "https://github.com/Hypercubesoft/HCKalmanFilter.
 s.ios.deployment_target = "9.0"
 s.source_files = "HCKalmanFilter/*"
 
+s.dependency 'Surge', '~> 2.0.0'
+
 end

HCKalmanFilter/HCKalmanAlgorithm.swift

@@ -8,6 +8,7 @@
 
 import Foundation
 import MapKit
+import Surge
 
 open class HCKalmanAlgorithm
 {
@@ -22,7 +23,7 @@ open class HCKalmanAlgorithm
     /// Acceleration variance magnitude for GPS
     /// =======================================
     /// **Sigma** value is  value for Acceleration Noise Magnitude Matrix (Qt).
-    /// Recommended value for **sigma** is 0.0625, this value is optimal for GPS problem, 
+    /// Recommended value for **sigma** is 0.0625, this value is optimal for GPS problem,
     /// it was concluded by researches.
     private let sigma = 0.0625
 
@@ -69,7 +70,7 @@ open class HCKalmanAlgorithm
     /// Acceleration Noise Magnitude Matrix
     /// ===================================
     /// **Acceleration Noise Magnitude Matrix (Qt)** is mathematical representation of external uncertainty of Kalman Algorithm.
-    /// The uncertainty associated can be represented with the “world” (i.e. things we aren’t keeping track of) 
+    /// The uncertainty associated can be represented with the “world” (i.e. things we aren’t keeping track of)
     /// by adding some new uncertainty after every prediction step.
     private var Qt:HCMatrixObject
 
@@ -79,7 +80,7 @@ open class HCKalmanAlgorithm
     /// **Sensor Noise Covariance Matrix (R)** is mathematical representation of sensor noise of Kalman Algorithm.
     /// Sensors are unreliable, and every state in our original estimate might result in a range of sensor readings.
     private var R:HCMatrixObject
-
+    
     /// Measured State Vector
     /// =====================
     /// **Measured State Vector (zt)** is mathematical representation of measuerd state vector of Kalman Algorithm.
@@ -93,26 +94,26 @@ open class HCKalmanAlgorithm
 
     /// Previous State Location
     private var previousLocation = CLLocation()
-
+    
 
     //MARK: - HCKalmanAlgorithm initialization
 
     /// Initialization of Kalman Algorithm Constructor
     /// ==============================================
     /// - parameters:
-    ///   - initialLocation: this is CLLocation object which represent initial location 
+    ///   - initialLocation: this is CLLocation object which represent initial location
     ///                      at the moment when algorithm start
     public init(initialLocation: CLLocation)
     {
         self.previousMeasureTime = Date()
         self.previousLocation = CLLocation()
 
-        self.xk1 = HCMatrixObject(n: stateMDimension, m: stateNDimension)
-        self.Pk1 = HCMatrixObject(n: stateMDimension, m: stateMDimension)
-        self.A = HCMatrixObject(n: stateMDimension, m: stateMDimension)
-        self.Qt = HCMatrixObject(n: stateMDimension, m: stateMDimension)
-        self.R = HCMatrixObject(n: stateMDimension, m: stateMDimension)
-        self.zt = HCMatrixObject(n: stateMDimension, m: stateNDimension)
+        self.xk1 = HCMatrixObject(rows: stateMDimension, columns: stateNDimension)
+        self.Pk1 = HCMatrixObject(rows: stateMDimension, columns: stateMDimension)
+        self.A = HCMatrixObject(rows: stateMDimension, columns: stateMDimension)
+        self.Qt = HCMatrixObject(rows: stateMDimension, columns: stateMDimension)
+        self.R = HCMatrixObject(rows: stateMDimension, columns: stateMDimension)
+        self.zt = HCMatrixObject(rows: stateMDimension, columns: stateNDimension)
 
         initKalman(initialLocation: initialLocation)
     }
@@ -163,7 +164,7 @@ open class HCKalmanAlgorithm
     ///  This function is a main. **processState** will be processed current location of user by Kalman Filter
     ///  based on previous state and other parameters, and it returns corrected location
     /// - parameters:
-    ///   - currentLocation: this is CLLocation object which represent current location returned by GPS. 
+    ///   - currentLocation: this is CLLocation object which represent current location returned by GPS.
     ///                      **currentLocation** is real position of user, and it will be processed by Kalman Filter.
     /// - returns: CLLocation object with corrected latitude, longitude and altitude values
 
@@ -226,6 +227,7 @@ open class HCKalmanAlgorithm
         let Pk = ((A*Pk1)!*A.transpose()!)! + Qt
 
         let tmp = Pk!+R
+
         // Kalman gain (Kt)
         let Kt = Pk!*(tmp?.inverseMatrix())!
 
@@ -235,11 +237,11 @@ open class HCKalmanAlgorithm
         self.xk1 = xt!
         self.Pk1 = Pt!
 
-        let lat = xk1.matrix[0][0]
-        let lon = xk1.matrix[2][0]
-        let altitude = xk1.matrix[4][0]
+        let lat = xk1.matrix[0,0]
+        let lon = xk1.matrix[2,0]
+        let altitude = xk1.matrix[4,0]
 
-        let kalmanCLLocation = CLLocation(coordinate: CLLocationCoordinate2D(latitude: lat,longitude: lon), altitude: altitude, horizontalAccuracy: kCLLocationAccuracyBestForNavigation, verticalAccuracy: kCLLocationAccuracyBestForNavigation, timestamp: previousMeasureTime)
+        let kalmanCLLocation = CLLocation(coordinate: CLLocationCoordinate2D(latitude: lat,longitude: lon), altitude: altitude, horizontalAccuracy: self.previousLocation.horizontalAccuracy, verticalAccuracy: self.previousLocation.verticalAccuracy, timestamp: previousMeasureTime)
 
         return kalmanCLLocation
     }