getlittleh.m

来自「这是个扩展kalman滤波的历程」· M 代码 · 共 9 行

function h = Getlittleh(X)
% get the valuable measurment value

R=148.1/3600/180*pi;
aa=1.69;
Re=6378137;%radius of earth

r = sqrt(X(1)^2+X(2)^2+X(3)^2);
h = sqrt(r^2-Re^2)*tan(R)-aa;