nfpredatorpraymodel.m

介绍了几个基于EKF扩展卡尔曼滤波的例子

function p = nfPredatorPrayModel
% nfnfPredatorPrayModel - nfPredatorPrayModel constructor
%
% The nfnfPredatorPrayModel defines folloving nonlinear multivariate function
%
%      | T*(1-a)*x1 + T*b*x1*x2 + w1 | 
%  f = |                             |
%      | T*(1+c)*x2 + T*d*x1*x2 + w2 |
%
%           | x1 |                  | w1 |
% where x = |    | is state and w = |    | noise
%           | x2 |                  | w2 |
%
% Constants are given as follows: 
%  T = 1
%  a = 0.04
%  b = c = d = 0.08

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

p.nffun = '[0.96*x1+0.08*x1*x2+w1;1.08*x2-0.08*x1*x2+w2]'; % for display method
p.parameters = {'state' 'noise'};       % list names of all quantities
p.nvar = 4;                             % specify number of all quantities
                                        % elemets (2 states + 2 noises)

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

p.linear = { 0 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,'nfPredatorPrayModel',NFFUNCTION);