initial_track.m

卡尔曼滤波算法在Matlab中的编程 仿真的为航迹跟踪的滤波过程

% modeling data
% sample number N=200 points
% sample time T=0.1s

t=0:0.1:20-0.1;
T=0.1;            % sample time
v=0.5;            % initial velocity
y=ones(1,200);
y(1)=0;
for n=2:200;
    y(n)=y(n-1)+v*T;
end
figure(1);
plot(t,y,'-');
axis([0 20 0 20]);
xlabel('time');
ylabel('yp position');
title('the initial track of movement');

% add white gauss noise
a=0.5*randn(1,200);
s=y+a;            %data+noise
figure(2);
plot(t,s,'+');
axis([0 20 0 20]);
xlabel('time');
ylabel('yp position');
title('the track of movement with noise');

save initial_track s