*-- Author : S.Burke / J.V. Morris
SUBROUTINE FKLSMO(JPL,IERR)
**********************************************************************
* *
* Kalman Smoothing from plane JPL+1 to plane JPL. *
* *
* ERROR CONDITIONS; *
* IERR = 0 ; normal termination *
* -> IERR = 101 ; no smoothed data at plane JPL+1 *
* -> IERR = 102 ; no projected data at plane JPL+1 *
* IERR = 5 ; smoothing already done ... but continue *
* IERR = 11 ; smoothed covariance matrix n.p.d. *
* IERR = 12 ; covariance of smoothed residuals n.p.d. *
* IERR = 116 ; theta > pi/2: reset to pi/4 *
* IERR = 17 ; theta > 1 (warning) *
* *
* -> Fatal errors *
* *
* NB Error 12 is not considered fatal, but the chi-sq will be zero *
* *
**********************************************************************
IMPLICIT DOUBLE PRECISION (A-H,O-Z)
PARAMETER (IUTIL=0,IROUT=4)
*KEEP,FKECODE.
PARAMETER (IWARN=0,IFATAL=1,IFPRO=2,IFFLT=3,IFSMO=4,IFPRS=5,
& IFPAS=6,IFPAF=7)
PARAMETER (IINF1=1,IINF2=2,IINF3=3,IINV=4,IDONE=5)
PARAMETER (IICV=6,IMCV=7,IOCV=11,IRCV=12,IOVCV=13,
& ITHGP2=16,ITHG1=17)
PARAMETER (IFREE=20,IFREE1=30,IFREE2=40,IFREE3=50)
*KEND.
*
* Common block definitions
*
*KEEP,FKNPL.
CHARACTER*5 CKDBG
PARAMETER (CKDBG='FKDBG')
PARAMETER (NPL=72)
LOGICAL LTRUE,LFIRST,LTRPL,LTRPLD
DOUBLE PRECISION TRUE,RTRUE,CHITRU,SPRO,CPRO,SFIL,CFIL
&, SSMT,CSMT,SSMTR,CSMTR,DPRO,CBPRO,QPRO,QGAIN
&, RPRO,CRPRO,RFIL,CRFIL,RSMT,CRSMT,CHIFIL,CHISMT
*
* Per-track values can go in H1WORK; note that LTRUE and LFIRST must
* be set at least per event.
*
* This is about 36k words long; the remaining common blocks are
* about 3.6k in total. Some of this could be in /H1WORK/, but the
* blocks would have to be reorganised.
*
COMMON /H1WORK/
* /FKPROJ/
& SPRO(5,NPL),CPRO(5,5,NPL)
* /FKFILT/
&, SFIL(5,NPL),CFIL(5,5,NPL)
* /FKSMTH/
&, SSMT(5,NPL),CSMT(5,5,NPL)
&, SSMTR(5,NPL),CSMTR(5,5,NPL)
* /FKINT/
&, DPRO(5,5,NPL),CBPRO(5,5,NPL),QPRO(5,5,NPL)
&, QGAIN(5,5,NPL),IAPROX,LFIRST
* /FKRSID/
&, RPRO(2,NPL),CRPRO(2,2,NPL),RFIL(2,NPL)
&, CRFIL(2,2,NPL),RSMT(2,NPL),CRSMT(2,2,NPL)
&, CHIFIL(NPL),CHISMT(NPL)
* /FKTRUE/
&, TRUE(5,NPL),RTRUE(5,NPL),CHITRU(NPL),LTRUE
* /FKDBG/
&, LTRPL(NPL),LTRPLD(NPL)
*KEEP,FKCNTL.
COMMON /FKCNTL/ LUN,IPR,ITR,IPL,JSTART,JSTOP,JLAST,JSTEP
*KEEP,FKCONS.
DOUBLE PRECISION ZPL,DZPL,RADL
COMMON /FKCONS/ ZPL(NPL),DZPL(NPL),RADL(NPL)
*KEEP,FKTRUE.
*KEEP,FKFLAG.
LOGICAL LPRO,LFIL,LSMT,LMES,LRAD,LRPRO,LRFIL,LRSMT,LPOINT,LBLOCK
COMMON /FKFLAG/ LPRO(NPL),LFIL(NPL),LSMT(NPL),LMES(NPL)
&, LRAD(NPL),LRPRO,LRFIL,LRSMT,LPOINT,LBLOCK
*KEEP,FKPROJ.
*KEEP,FKFILT.
*KEEP,FKSMTH.
*KEEP,FKRSID.
*KEEP,FKINT.
*KEND.
**********************************************************************
*
* Local arrays etc ...
*
DIMENSION SADJ(5),DINV(5,5),AGAIN(5,5)
**********************************************************************
*
* Initialisation and checks ...
*
IERR = 0
* If JPL=JLAST then Smoothed is same as Filtered ...
IF (JPL.EQ.JLAST) THEN
* Does filtered data exist at plane JPL ?
IF (.NOT.LFIL(JPL)) THEN
CALL FKERR(IUTIL,IROUT,IFATAL,IINF1,IERR)
RETURN
ENDIF
CALL UCOPY(SFIL(1,JPL),SSMT(1,JPL),10)
CALL FKCOPY(CFIL(1,1,JPL),CSMT(1,1,JPL))
GOTO 600
ENDIF
* Number of next plane
JPLN = JPL + JSTEP
* Does smoothed data exist at previous plane?
IF (.NOT.LSMT(JPLN)) THEN
CALL FKERR(IUTIL,IROUT,IFATAL,IINF1,IERR)
RETURN
ENDIF
* RADL and LRAD are defined in an asymmetrical way
JPLR = JPL + (JSTEP-1)/2
* Does projected data exist at previous plane? (only needed with MS)
IF (LRAD(JPLR) .AND. .NOT.LPRO(JPLN)) THEN
CALL FKERR(IUTIL,IROUT,IFATAL,IINF2,IERR)
RETURN
ENDIF
* Has smoothing to JPL already been done? Continue anyway ..... !?
IF (LSMT(JPL)) CALL FKERR(IUTIL,IROUT,IWARN,IDONE,IERR)
**********************************************************************
IF (LRAD(JPLR)) THEN
*
* Update the smoothed state vector at plane JPL+1 by removing the
* estimated multiple scattering between planes JPL and JPL+1;
* I think that this is probably the most `correct' way to do it.
* If there is no multiple scattering QGAIN is zero, so this can be
* skipped. Then transform the adjusted state vector from JPL+1 to JPL.
*
CALL FKADJ(SSMT(1,JPLN),SPRO(1,JPLN),QGAIN(1,1,JPL),SADJ)
CALL FKNORM(SADJ,IFAIL)
IF (IFAIL.NE.0) CALL FKERR(IUTIL,IROUT,IFAIL/100,IFAIL,IERR)
IF (IFAIL.GE.100) RETURN
CALL FKTRAN(-DZPL(JPL),ZPL(JPLN),SADJ,SSMT(1,JPL),DINV)
*
* Compute the smoothed covariance. This may be numerically unstable if
* the multiple scattering is large (probably not the case).
*
CALL FKDMQD(DINV,QGAIN(1,1,JPL),AGAIN)
CALL FKMXM(CSMT(1,1,JPLN),AGAIN,CSMT(1,1,JPL))
CALL FKDQA(DINV,QPRO(1,1,JPL),AGAIN,CSMT(1,1,JPL))
ELSE
* If there is no MS, smoothing is just back-extrapolation
* Transform the state vector and covariance from JPL to JPL+1 ...
CALL FKTRAN(-DZPL(JPL),ZPL(JPLN),SSMT(1,JPLN),
& SSMT(1,JPL),DINV)
CALL FKMUL(CSMT(1,1,JPLN),DINV,CSMT(1,1,JPL))
ENDIF
CALL FKNORM(SSMT(1,JPL),IFAIL)
IF (IFAIL.NE.0) CALL FKERR(IUTIL,IROUT,IFAIL/100,IFAIL,IERR)
IF (IFAIL.GE.100) RETURN
600 CONTINUE
IF (LTRUE) THEN
CALL FKRST(JPL,IFAIL)
IF (IFAIL.NE.0) CALL FKERR(IUTIL,IROUT,IWARN,IFAIL,IERR)
ENDIF
IF (LRSMT) THEN
IF (LMES(JPL)) THEN
CALL FKLRSD(JPL,SSMT(1,JPL),CSMT(1,1,JPL),-3,
& RSMT(1,JPL),CRSMT(1,1,JPL),CHISMT(JPL),IFAIL)
IF (IFAIL.NE.0) CALL FKERR(IUTIL,IROUT,IWARN,IFAIL,IERR)
ELSE
CALL VZERO(RSMT(1,JPL),4)
CALL VZERO(CRSMT(1,1,JPL),8)
CHISMT(JPL) = 0.D0
ENDIF
ENDIF
* Set flag to show smoothing is done
LSMT(JPL) = .TRUE.
RETURN
END
*