解释卡尔曼滤波器所需的代码

3视图(30天)

显示旧的评论

tehreem 2012年4月14日

0
链接

这个问题直接联系

//www.tianjin-qmedu.com/matlabcentral/answers/35460-explanation-of-ekf-code-required

                         可以人提供的解释卡尔曼滤波器代码易曹
                        
                         www.tianjin-qmedu.com/matlabcentral/fileexchange/18189

n = 4;%的国家问= 0.1;%性病的过程r = 0.1;%性病测量Q =问^ 2 *眼(n);%的协方差过程%或Q =诊断接头Q [0];%如果没有包含在过程噪声参数R = R ^ 2;测量f = @ %协方差(x) [x (2), (3), (4) * x (1) * x (x (2) + (3)); x (4)];= @ %非线性状态方程h (x) x (1);% s =测量方程(0,0,1,0.1);%初始状态x = s + q * randn (4,1); %initial state % initial state with noise P = eye(n); % initial state covraiance N=20; % total dynamic steps xV = zeros(n,N); %estmate % allocate memory sV = zeros(n,N); %actual zV = zeros(1,N); for k=1:N z = h(s) + r*randn; % measurments sV(:,k)= s; % save actual state zV(k) = z; % save measurment [x, P] = ekf(f,x,P,h,z,Q,R); % ekf xV(:,k) = x; % save estimate s = f(s) + q*randn(3,1); % update process end;