input_callback.m

拥有matlab用户界面的卡尔曼滤波程序

function input_callback()

%%%%%%%%%%%%%%%%%%%%%
% defaut parameters %
%%%%%%%%%%%%%%%%%%%%%
A=[1 0 
   0 1];          %Φ(k+1,k)
B=[.1 .3
   .2 .2];        %Γ(k+1,k)
H=[.1 2
   .3 .4];        %H(k)　　
Q=[.2 .1
   .1 .4];        %Q(k)
R=[.1 .05
   .05 .1];       %R(k)
P0=[.1 0
     0 .4];       %P(0)
X0=[0 0]';        %X(0,0)

%%%%%%%%%%%%%%
% inpudialog %
%%%%%%%%%%%%%%
prompt={'Φ(k+1,k):(n×n)','Γ(k+1,k):(n×p)','H(k):(m×n)','Q(k):(p×p)','R(k):(m×m)',...
        'P(0):(n×n)','X(0,0):(n×1)'};
title='Input Parameters';
lines=[2 2 2 2 2 2 2];
def={num2str(A),num2str(B),num2str(H),num2str(Q),num2str(R),num2str(P0),...
        num2str(X0)};
answer=inputdlg(prompt,title,lines,def);
if isempty(answer)
    return
end

%%%%%%%%%%%%%%%%%%%
% save parameters %
%%%%%%%%%%%%%%%%%%%

exist=0;
if ~isempty(answer{1})
   A=str2num(answer{1});
    if exist 
       save inidata A -append;
    else
       save inidata A;
       exist=1;
    end
end
if ~isempty(answer{2})
   B=str2num(answer{2});
    if exist 
       save inidata B -append;
    else
       save inidata B;
       exist=1;
    end
end
if ~isempty(answer{3})
   H=str2num(answer{3});
    if exist 
       save inidata H -append;
    else
       save inidata H;
       exist=1;
    end
end
if ~isempty(answer{4})
   Q=str2num(answer{4});
    if exist 
       save inidata Q -append;
    else
       save inidata Q;
       exist=1;
    end
end
if ~isempty(answer{5})
   R=str2num(answer{5});
    if exist 
       save inidata R -append;
    else
       save inidata R;
       exist=1;
    end
end
if ~isempty(answer{6})
   P0=str2num(answer{6});
    if exist 
       save inidata P0 -append;
    else
       save inidata P0;
       exist=1;
    end
end
if ~isempty(answer{7})
   X0=str2num(answer{7});
    if exist 
       save inidata X0 -append;
    else
       save inidata X0;
       exist=1;
    end
end

CI=findobj(gcf,'tag','compo1');
set(CI,'userdata',[]);

generatezk;