mirror of
https://github.com/esphome/esphome-docs.git
synced 2024-06-19 09:32:28 +02:00
62 lines
2.4 KiB
ReStructuredText
62 lines
2.4 KiB
ReStructuredText
Kalman filter-based sensor fusion
|
|
=================================
|
|
|
|
.. seo::
|
|
:description: Instructions for setting up a kalman_combinator sensor
|
|
|
|
The ``kalman_combinator`` sensor platform allows you to filter one or several
|
|
sensors into one with a reduced error. If using a single sensor as data source,
|
|
it acts like a :ref:`sensor-filter-exponential_moving_average` filter. With
|
|
multiple sensors, it combines their values based on their respective standard
|
|
deviation.
|
|
|
|
The ``unit_of_measurement``, ``device_class``, ``entity_category``, ``icon``, and
|
|
``accuracy_decimals`` properties are by default inherited from the first sensor.
|
|
``state_class`` is explicitly not inherited, because ``total_increasing`` states
|
|
could still decrease when multiple sensors are used.
|
|
|
|
.. code-block:: yaml
|
|
|
|
# Example configuration entry
|
|
sensor:
|
|
- platform: kalman_combinator
|
|
name: "Temperature"
|
|
unit_of_measurement: °C
|
|
process_std_dev: 0.001
|
|
sources:
|
|
- source: temperature_sensor_1
|
|
error: 1.0
|
|
- source: temperature_sensor_2
|
|
error: !lambda |-
|
|
return 0.5 + std::abs(x - 25) * 0.023
|
|
|
|
Configuration variables:
|
|
------------------------
|
|
|
|
- **process_std_dev** (**Required**, float): The standard deviation of the
|
|
measurement's change per second (e.g. ``1/3600 = 0.000277`` if the
|
|
temperature usually changes at most by one Kelvin per hour). A low value here
|
|
will place high importance on the current state and be slow to respond to
|
|
changes in the measured samples. A high value will update faster, but also be
|
|
more noisy.
|
|
- **std_dev** (*Optional*, :ref:`Sensor <config-sensor>`): A sensor
|
|
that publishes the current standard deviation of the state with each update.
|
|
- **sources** (**Required**, list): A list of sensors to use as source. Each
|
|
source must have either **error** or **error_function** set. These work like
|
|
the **process_std_dev** parameter, with low values marking accurate data.
|
|
|
|
- **source** (**Required**, :ref:`config-id` of a :doc:`/components/sensor/index`): The
|
|
sensor that is used as sample source
|
|
- **error** (**Required**, float, :ref:`templatable <config-templatable>`): The standard deviation of the
|
|
sensor's measurements. If implemented as a template, the measurement is in
|
|
parameter ``x``.
|
|
|
|
- All other options from :ref:`Sensor <config-sensor>`.
|
|
|
|
See Also
|
|
--------
|
|
|
|
- :ref:`sensor-filters`
|
|
- :apiref:`kalman_combinator/kalman_combinator.h`
|
|
- :ghedit:`Edit`
|