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62 lines
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62 lines
2.4 KiB
ReStructuredText
Kalman filter-based sensor fusion
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=================================
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.. seo::
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:description: Instructions for setting up a kalman_combinator sensor
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The ``kalman_combinator`` sensor platform allows you to filter one or several
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sensors into one with a reduced error. If using a single sensor as data source,
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it acts like a :ref:`sensor-filter-exponential_moving_average` filter. With
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multiple sensors, it combines their values based on their respective standard
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deviation.
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The ``unit_of_measurement``, ``device_class``, ``entity_category``, ``icon``, and
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``accuracy_decimals`` properties are by default inherited from the first sensor.
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``state_class`` is explicitly not inherited, because ``total_increasing`` states
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could still decrease when multiple sensors are used.
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.. code-block:: yaml
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# Example configuration entry
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sensor:
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- platform: kalman_combinator
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name: "Temperature"
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unit_of_measurement: °C
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process_std_dev: 0.001
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sources:
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- source: temperature_sensor_1
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error: 1.0
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- source: temperature_sensor_2
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error: !lambda |-
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return 0.5 + std::abs(x - 25) * 0.023
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Configuration variables:
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------------------------
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- **process_std_dev** (**Required**, float): The standard deviation of the
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measurement's change per second (e.g. ``1/3600 = 0.000277`` if the
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temperature usually changes at most by one Kelvin per hour). A low value here
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will place high importance on the current state and be slow to respond to
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changes in the measured samples. A high value will update faster, but also be
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more noisy.
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- **std_dev** (*Optional*, :ref:`Sensor <config-sensor>`): A sensor
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that publishes the current standard deviation of the state with each update.
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- **sources** (**Required**, list): A list of sensors to use as source. Each
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source must have either **error** or **error_function** set. These work like
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the **process_std_dev** parameter, with low values marking accurate data.
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- **sensor** (**Required**, :ref:`config-id` of a :doc:`/components/sensor/index`): The
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sensor that is used as sample source
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- **error** (**Required**, float, :ref:`templatable <config-templatable>`): The standard deviation of the
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sensor's measurements. If implemented as a template, the measurement is in
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parameter ``x``.
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- All other options from :ref:`Sensor <config-sensor>`.
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See Also
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--------
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- :ref:`sensor-filters`
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- :apiref:`kalman_combinator/kalman_combinator.h`
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- :ghedit:`Edit`
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