nfexamplefunction.m

介绍了几个基于EKF扩展卡尔曼滤波的例子

function p = nfExampleFunction()
% nfExampleFunction - nfExampleFunction constructor
%
% The nfExampleFunctiondefines folloving nonlinear multivariate function
%
%      | x1*x2+w1 |           | x1 |                  | w1 |
%  f = |          | where x = |    | is state and w = |    | noise
%      |  x2+w2   |           | x2 |                  | w2 |
%
%

% Nonlinear Filtering Toolbox version 2.0rc1
% Copyright (c) 1995 - 2006 NFT developement Team,
%              Department of Cybernetics,
%              University of West Bohemia in Pilsen

p.nffun = '[x1*x2+w1;x2+w2]';         % necessary for display method
p.parameters = {'x1' 'x2' 'w1' 'w2'}; % list names of all variables
p.nvar = 4;                           % specify number of variables
%--------------------------------------------------------------------------
% alternativelly it is possible to use generic naming as used e.g. by class
% nfLinFuctin i.e
%
%       p.parameters = {'state' 'noise'};
%       p.nvar = 2;
%
% This variant is advisable for high dimension functions. The choise must
% be used consistently within the class methods (nfdiff,nfeval,get,...)
%--------------------------------------------------------------------------

p.nu  = 0;         % dimension of input
p.nx  = 2;         % dimension of state
p.nxi = 2;         % dimension of noise

p.linear = { 0 0 1 1 };          % set index of linearity for all variables

% Create object as a child of object nfFunction
NFFUNCTION = nfFunction(p.nffun,p.parameters,p.nvar,p.nu,p.nx,p.nxi,p.linear);
p = class(p,'nfExampleFunction',NFFUNCTION);