readme.1st

matlab中kalman滤波程序包

RELEASE NOTES FOR THE KALMTOOL TOOLBOX
======================================

This note contains important information on how the present
toolbox is to be installed, and the conditions under which it may
be used. Please read it carefully before use.

BEFORE YOU START USING THE TOOLBOX
After installation, all toolbox functions will be located in one
directory, and the files associated with the demonstration
programs will be located in a subdirectory under this. The user
should make a path to these directories with the MATLAB function "path":
   >> path(path,'/xx/.../xx/Kalmtool');
   >> path(path,'/xx/.../xx/Kalmtool/Demo');
If the toolbox is going to be used on a regular basis it is
recommended to include this statement in the file 
"startup.m", which is invoked during the start of MATLAB.

If a C compiler is available, and the MATLAB "mex"
command has been properly set up, the CMEX functions in the
demonstration directory are compiled as follows:
   >> cd /xx/xx/.../Kalmtool/Demo
   >> demomex

This script invokes the "mex" command for each of the
CMEX functions in the demonstration directory.

The manual for the toolbox is available in postscript format. The file is
called "kalmman.ps"

A technical report describing the filters is available in "revddfilt.ps"


CONDITIONS/DISCLAIMER
By using the toolbox the user agrees to all of the following:

o   If one is going to publish any work where this toolbox has been used,
    please remember it was obtained free of charge and include a reference
    to the technical report: M. Norgaard: "KALMTOOL - State Estimation for
    Nonlinear Systems" Tech. Report. IMM-REP-2000-6, Department of
    Mathematical Modelling, Technical University of Denmark, 2000.

o   Magnus Norgaard, Department of Mathematical Modelling, or Department
    of Automation, DTU do not offer any support for this product whatsoever.

o   For educational purposes and research at universities and government
    research laboratories, the toolbox is copyrighted freeware by Magnus
    Norgaard/Department of Mathematical Modelling/Department of 
    Automation, DTU, and it may be distributed freely
    unmodified. Companies and private research laboratories can evaluate the
    toolbox but are required to obtain a license for a fee of 200 USD in 
    case they wish to use it (does not include support). Please contact 
    Magnus N鴕gaard (e-mail address given below).

o   It is not permitted to utilize any part of the software in commercial
    products without prior written consent of Magnus N鴕gaard, The
    Department of Mathematical Modelling, DTU.

o   The C source code for the MEX files can be purchased by contacting
    Magnus Norgaard. Price depends on application.

THE TOOLBOX IS PROVIDED "AS-IS" WITHOUT WARRANTY OF ANY KIND, EITHER
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES 
OR CONDITIONS OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. IN
NO EVENT SHALL MAGNUS N豏GAARD AND/OR THE DEPARTMENT OF MATHEMATICAL 
MODELLING  AND/OR THE DEPARTMENT OF AUTOMATION BE
LIABLE FOR ANY SPECIAL, INCIDENTAL, INDIRECT, OR CONSEQUENTIAL DAMAGES
OF ANY KIND, OR DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA, OR
PROFITS, WHETHER OR NOT MN/IMM/IAU HAVE BEEN ADVISED OF THE POSSIBILITY OF
SUCH DAMAGES, AND/OR ON ANY THEORY OF LIABILITY ARISING OUT OF OR IN
CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.

Trademarks of companies and/or organizations mentioned in this
documentation appear for identification purposes only and are the
property of their respective companies and/or organizations.


Enjoy!

Magnus Norgaard
Department of Mathematical Modelling
Bldg. 321
Technical University of Denmark
DK-2800 Kgs. Lyngby
Denmark
[e-mail]

April 15, 2000