bot_demo_ekf1.ps

扩展卡尔曼和无迹卡尔曼的matlab仿真比较。

18 0 18 0 18 0 18 0 18 0 17 0 18 0 18 0 
18 0 18 0 18 0 18 0 18 0 17 0 18 0 18 0 
18 0 18 0 18 0 3739 1973 100 MP stroke
18 0 17 0 18 0 18 0 18 0 18 0 18 0 18 0 
3596 1973 9 MP stroke
DA
/c8 { 0.000000 0.000000 1.000000 sr} bdef
c8
-13 -10 9 1 5 -22 -12 -13 -13 12 2 -13 -6 1 -14 -14 
-17 -15 -42 8 1 -2 13 -7 -1 -14 18 -37 11 -18 0 -30 
-10 -18 -17 -9 5 -9 -3 0 -7 -4 14 -8 11 -14 0 -28 
-1 -6 4 1 -7 -9 7 -16 10 7 22 -23 -9 -15 21 -18 
9 -2 1 -13 21 -9 -8 -8 4 -6 -2 0 9 -13 -7 -15 
11 -39 -5 -24 -22 3 1 -9 8 -37 5 -20 -7 -5 -2 -8 
5 -14 -16 -20 6 -23 9 -1 -7 7 -4 6 0 -21 -14 -29 
8 -21 2 1 -1 -20 0 -4 11 -28 -16 -8 -3 -25 -7 3 
7 6 -5 -16 7 -15 0 -8 -7 -13 13 -4 0 -3 8 -26 
-7 15 11 -10 4 -19 21 -13 4 12 3 -22 0 6 3 -12 
2 -16 0 -6 27 -58 -10 -5 8 -32 -5 -15 -1 -19 7 1 
14 -50 -8 5 12 -55 8 -5 0 15 10 -14 6 -16 1 10 
-13 -7 -18 -2 -2 -2 2002 3466 100 MP stroke
-9 -24 -9 21 2 -19 -7 20 4 -7 -6 -12 -5 -5 -7 2 
-7 -8 13 -32 18 -35 -10 -5 -13 2 -22 6 -9 -17 -12 -10 
36 -50 -38 10 -21 4 -46 14 -29 7 4 -19 -14 -5 -42 12 
-12 -4 -10 -4 6 -18 -19 -1 -10 -7 -61 16 -24 0 -47 7 
23 -16 -50 11 -41 4 -6 -10 -2 -5 -30 -3 -23 -3 -11 -8 
-23 4 -3 0 -9 -5 -10 0 -52 11 -42 -5 -1 0 -19 -5 
-17 2 -16 0 -5 -3 2 -18 11 -17 -29 8 -18 -2 -9 2 
-36 10 18 -7 -42 -2 -20 -7 -23 4 3 -2 -32 -4 21 3 
-14 -11 -10 -4 -21 -5 -24 12 -32 -4 -24 7 -12 -6 7 -9 
-54 5 -30 -1 -29 3 -8 -6 -15 15 -20 -3 -34 7 -23 3 
-10 -12 -25 0 13 1 5 -11 -19 2 -2 2 -38 4 -15 12 
-53 12 -27 2 -50 1 -19 -9 -23 -6 -5 -5 -4 3 -33 4 
15 1 -17 5 -16 -3 3565 3684 100 MP stroke
0 -8 10 -13 -19 -6 -18 -2 22 -12 -6 -8 -37 5 -18 -1 
-23 4 1 0 -49 3 0 17 -35 -5 -10 9 -23 -4 -18 7 
-30 3 -18 0 -38 -2 -26 -1 11 -11 -29 -5 -45 3 -32 6 
-35 -6 -43 -5 -13 -2 -15 4 -27 0 -23 -18 -11 -4 -32 3 
-45 3 -14 -8 -15 1 -22 -4 -39 4 -17 6 -10 -12 -17 -6 
-15 0 -29 -9 -42 4 13 -14 -4 -2 -3 3 -17 20 -39 2 
-42 -4 -31 6 -43 5 4 -2 10 -7 -20 10 -22 4 -14 0 
-26 -11 -34 -7 -7 10 -22 6 -18 -1 -2 2 -19 8 -11 5 
-1 -4 12 -4 -21 -2 -12 14 34 -6 5 6 -10 4 -32 2 
-19 18 -28 13 -5 16 -20 -16 -28 15 -4 24 -47 1 11 13 
-6 6 5 3 -14 8 0 10 1 22 -14 10 -6 6 24 -2 
-5 7 -18 6 2 8 8 14 -7 24 -5 2 -24 30 0 10 
4 7 -26 13 29 -8 5023 3451 100 MP stroke
-11 28 -26 14 -4 21 12 3 9 34 -6 25 12 16 -7 15 
-2 -1 3 5 -4 19 11 13 -5 12 2 22 -15 10 0 14 
3 26 22 -5 -5 26 -9 15 -1 2 1 8 -27 17 3 10 
-22 29 -4 14 11 14 -13 18 -13 5 -10 14 -14 -7 -4 33 
11 -10 -4 9 19 -7 12 24 -14 16 18 24 -14 3 5 22 
-12 15 5 -2 -5 16 -10 14 12 13 8 17 27 21 12 31 
-12 19 -25 17 -5 4 7 12 -14 -7 -16 15 20 1 -12 1 
-7 15 7 8 -16 30 17 3 6 10 15 7 18 5 1 14 
2 -2 -2 19 -11 20 2 13 -2 17 -14 9 0 20 -21 6 
-7 24 -13 21 10 1 8 4 3 18 -4 1 -24 12 -5 11 
5 18 -13 15 8 -8 -8 23 5 6 -3 4 20 -27 -6 7 
7 28 13 14 14 51 -6 12 -1 25 -27 34 -21 16 -8 37 
8 -2 4 -2 9 12 5160 2165 100 MP stroke
14 18 -1 -4 8 20 -11 -18 2 -7 -8 50 -2 13 -7 28 
-10 16 19 5 14 2 4 -7 23 -14 6 8 14 5 29 -4 
13 -6 28 12 35 -6 20 -6 -4 21 0 32 14 11 -24 59 
47 -27 -9 23 32 -17 22 2 27 -28 -15 31 16 6 -8 37 
46 -32 27 -42 32 -19 6 25 26 0 17 -11 -4 25 12 13 
21 -11 -61 83 -32 70 78 -50 48 -41 -8 11 20 -22 85 -61 
-15 27 38 -19 75 -66 -9 10 -83 98 29 -25 11 1 225 -176 
-56 51 85 -39 49 -34 275 -217 104 -97 173 -146 -174 162 39 -36 
16 1 176 -122 -87 103 -92 68 19 3 -233 196 -31 37 149 -80 
85 -32 19 10 -77 57 6 11 38 1 2 35 98 -47 80 -6 
-20 27 -51 62 -80 112 17 -23 -118 101 125 -127 309 -223 -133 121 
-3 -11 -11 21 -36 7 22 -7 -122 107 62 -18 1 -3 -76 64 
-111 129 52 -9 98 -71 3700 1984 100 MP stroke
-13 72 125 -23 84 56 3504 1879 4 MP stroke
DD
/c9 { 1.000000 0.000000 0.000000 sr} bdef
c9
-2 -11 -1 -10 -2 -11 -2 -10 -2 -10 -1 -11 -2 -10 -2 -11 
-2 -10 -1 -11 -2 -10 -2 -10 -1 -11 -2 -10 -1 -11 -2 -10 
-1 -11 -1 -10 -2 -11 -1 -10 -1 -11 -1 -10 0 -10 -1 -11 
-1 -10 0 -21 -1 -11 0 -20 1 -11 0 -21 1 -10 0 -10 
1 -11 0 -10 1 -11 1 -10 0 -10 1 -11 1 -10 0 -11 
1 -10 1 -10 0 -11 1 -10 0 -21 1 -11 0 -21 1 -10 
0 -63 1 -10 0 -72 1 -10 0 -10 1 -10 0 -10 1 -10 
0 -10 1 -10 1 -10 0 -10 1 -9 1 -10 1 -10 1 -9 
1 -10 1 -9 1 -10 0 -9 1 -10 0 -19 1 -9 0 -9 
-1 -10 0 -18 -1 -9 -1 -9 -2 -10 -1 -9 -2 -9 -3 -9 
-2 -8 -3 -9 -4 -9 -4 -9 -4 -9 -4 -9 -5 -8 -6 -9 
-6 -8 -6 -9 -7 -8 -7 -9 -8 -8 -8 -9 -9 -8 -9 -8 
-10 -8 -11 -8 -11 -8 2217 3484 100 MP stroke
-11 -8 -12 -8 -13 -8 -13 -8 -13 -8 -14 -7 -14 -8 -14 -7 
-15 -7 -14 -7 -16 -7 -15 -7 -15 -6 -16 -6 -16 -7 -16 -6 
-16 -5 -16 -6 -16 -5 -16 -6 -17 -5 -16 -4 -16 -5 -16 -4 
-17 -4 -16 -4 -16 -4 -17 -4 -16 -3 -16 -3 -17 -3 -16 -3 
-16 -3 -16 -2 -17 -3 -16 -2 -16 -2 -17 -2 -16 -2 -16 -1 
-17 -2 -16 -2 -16 -1 -17 -1 -16 -1 -17 -2 -16 -1 -17 -1 
-17 -1 -16 -1 -17 0 -17 -1 -17 -1 -17 0 -17 -1 -17 -1 
-17 0 -17 -1 -17 0 -17 -1 -17 0 -17 0 -18 0 -17 -1 
-17 0 -18 0 -17 0 -18 0 -17 0 -18 0 -17 0 -18 0 
-17 -1 -18 0 -18 0 -17 0 -18 0 -18 0 -18 0 -17 0 
-18 0 -18 0 -18 0 -18 0 -18 0 -18 0 -17 0 -18 0 
-18 -1 -18 0 -18 0 -18 0 -18 0 -19 0 -18 0 -18 0 
-18 -1 -18 0 -18 0 3861 3707 100 MP stroke
-19 0 -18 0 -18 0 -19 0 -18 -1 -19 0 -18 0 -19 0 
-19 0 -18 -1 -19 0 -19 0 -18 0 -19 0 -18 0 -19 -1 
-19 0 -18 0 -19 0 -18 0 -18 1 -19 0 -18 0 -18 0 
-18 1 -18 0 -18 1 -17 1 -18 1 -17 1 -17 1 -17 1 
-17 1 -17 2 -16 1 -17 2 -16 2 -16 2 -16 2 -15 3 
-16 2 -15 3 -15 3 -15 3 -14 3 -14 4 -14 3 -14 4 
-13 4 -14 4 -12 4 -13 5 -12 5 -13 5 -11 5 -12 5 
-11 6 -11 6 -11 6 -11 6 -10 6 -10 7 -10 7 -9 7 
-10 7 -8 8 -9 8 -8 7 -9 9 -7 8 -8 8 -7 9 
-7 9 -7 9 -7 9 -6 10 -6 9 -6 10 -5 10 -5 10 
-5 11 -5 10 -5 11 -4 11 -4 11 -4 11 -4 11 -4 11 
-3 12 -3 11 -3 12 -3 12 -3 12 -2 12 -3 12 -2 12 
-2 12 -2 12 -2 12 5053 3216 100 MP stroke
-2 13 -2 12 -2 12 -1 13 -2 12 -1 13 -2 12 -1 13 
-2 12 -1 13 -2 12 -1 13 -1 12 -1 13 -2 12 -1 12 
-1 13 -1 12 -1 12 -1 13 -1 12 0 12 -1 12 -1 13 
0 12 -1 12 -1 12 0 12 -1 12 0 24 -1 12 0 24 
-1 11 0 24 -1 11 0 69 -1 11 0 11 1 11 0 76 
1 11 0 42 1 11 0 10 1 10 0 10 1 10 0 10 
1 11 1 9 1 10 1 10 1 10 1 10 2 10 1 9 
2 10 2 9 2 10 2 9 3 10 2 9 3 9 3 10 
3 9 4 9 4 9 4 9 4 9 4 9 5 8 5 9 
5 9 6 8 5 9 7 8 6 8 7 9 7 8 8 8 
8 8 8 8 9 8 9 8 9 7 10 8 9 8 11 7 
10 7 11 8 11 7 11 7 11 7 12 7 12 6 12 7 
12 7 12 6 12 6 4775 2030 100 MP stroke
13 7 12 6 13 6 12 6 13 5 13 6 13 6 13 5 
12 5 13 5 13 5 13 5 13 5 13 5 13 5 13 4 
13 4 13 5 13 4 13 4 13 4 12 4 13 3 13 4 
13 4 13 3 13 4 13 3 13 3 13 4 13 3 13 3 
13 3 13 3 14 3 13 3 13 3 13 3 14 3 14 3 
13 2 14 3 14 3 13 3 14 3 14 2 14 3 14 3 
15 3 14 3 14 2 14 3 14 3 14 2 15 3 14 3 
14 2 14 3 14 3 14 2 15 3 14 2 14 3 14 3 
14 2 15 3 14 2 14 3 3862 1786 69 MP stroke
/c10 { 0.000000 1.000000 0.000000 sr} bdef
c10
-2 -11 -1 -10 -2 -11 -2 -10 -2 -10 -1 -11 -2 -10 -2 -11 
-1 -10 -1 -12 -2 -10 -2 -10 -2 -10 -2 -10 -1 -11 -2 -10 
-1 -11 -1 -10 -2 -11 -1 -10 -1 -11 -1 -10 -1 -10 0 -11 
-1 -10 0 -11 -1 -10 0 -42 1 -11 0 -10 1 -11 1 -11 
0 -10 1 -10 1 -10 0 -11 1 -10 1 -11 0 -19 1 -11 
0 -10 1 -11 0 -10 1 -10 0 -31 1 -11 0 -42 1 -10 
0 -73 1 -10 0 -21 1 -10 0 -10 1 -10 0 -10 1 -10 
0 -10 1 -10 1 -10 2 -11 1 -11 0 -9 1 -10 1 -10 
1 -9 1 -10 2 -12 -1 -7 1 -10 -1 -8 0 -9 1 -11 
0 -9 -1 -9 0 -41 -2 -9 -1 -11 -5 -4 -6 -6 -3 -9 
-4 -7 -4 -9 -3 -9 -4 -9 -4 -10 -6 -8 -5 -8 -6 -9 
-7 -8 -5 -11 -6 -10 -10 -6 -11 -5 -12 -5 -11 -6 -12 -7 
-10 -9 -16 -4 -13 -7 2249 3479 100 MP stroke
-10 -10 -11 -10 -13 -7 -12 -8 -10 -10 -14 -7 -14 -7 -15 -6 
-14 -8 -15 -7 -14 -6 -16 -7 -13 -7 -19 -5 -16 -7 -16 -6 
-15 -7 -16 -7 -16 -6 -16 -6 -15 -6 -15 -6 -12 -10 -13 -7 
-11 -8 -15 -6 -21 0 -13 -6 -17 -2 -15 -5 -14 -3 -14 -4 
-21 0 -17 -1 -15 -3 -17 -1 -14 -3 -15 -2 -15 -2 -20 1 
-18 0 -16 -2 -16 -1 -18 0 -13 -2 -19 0 -17 0 -18 0 
-15 -1 -18 0 -16 -1 -17 0 -17 0 -18 0 -17 0 -17 0 
-17 -1 -17 0 -17 0 -18 0 -17 -1 -18 1 -17 0 -17 -1 
-17 0 -18 0 -17 0 -18 0 -16 0 -18 0 -18 0 -19 1 
-18 0 -18 1 -17 0 -18 0 -18 0 -17 -1 -18 0 -18 0 
-18 0 -18 0 -18 0 -18 0 -18 0 -18 0 -18 0 -18 -1 
-18 0 -19 0 -18 0 -18 0 -18 0 -18 0 -18 0 -19 0 
-18 0 -18 0 -19 -1 3879 3707 100 MP stroke
-18 0 -19 0 -18 0 -19 0 -18 0 -19 -1 -19 0 -18 0 
-19 0 -19 0 -18 -1 -18 0 -19 0 -19 0 -19 0 -18 0 
-19 0 -19 0 -18 0 -18 0 -18 0 -19 0 -17 0 -19 1 
-17 0 -18 1 -18 0 -18 1 -18 1 -17 1 -17 2 -17 1 
-17 1 -16 2 -17 1 -16 2 -16 2 -16 3 -15 2 -16 2 
-15 3 -15 3 -15 3 -14 3 -15 3 -13 4 -14 4 -13 4 
-14 4 -13 4 -13 5 -12 5 -12 5 -12 5 -11 5 -12 6 
-11 6 -11 6 -10 6 -10 7 -10 6 -10 7 -9 7 -10 8 
-8 7 -9 8 -8 8 -8 8 -8 8 -7 9 -8 9 -7 9 
-6 9 -6 9 -7 10 -5 9 -6 10 -6 10 -5 10 -5 11 
-5 10 -4 11 -5 11 -4 11 -3 11 -3 11 -3 11 -4 12 
-4 11 -3 12 -2 12 -3 12 -3 12 -2 12 -2 12 -3 12 
-1 12 -3 13 -1 12 5053 3203 100 MP stroke
-2 12 -2 13 -2 12 -2 13 -2 12 -1 13 -2 12 -1 13 
-1 12 -2 13 -2 12 -1 13 -1 12 -2 13 -1 12 -1 13 
-1 12 -1 12 -1 13 -1 12 0 12 -1 12 -1 13 -1 12 
0 12 -1 12 0 24 -1 12 0 12 -1 12 0 12 -1 11 
0 24 -1 12 0 46 -1 11 0 89 1 11 0 64 1 10 
0 11 1 10 0 21 1 10 0 10 1 11 1 9 1 10 
1 10 1 10 1 9 1 10 2 10 2 9 2 9 2 10 
2 9 1 10 2 11 3 9 3 9 4 9 3 9 5 8 
3 10 5 8 3 11 5 9 5 8 5 9 5 9 5 9 
8 7 8 7 6 9 8 7 8 8 8 7 8 7 9 8 
8 8 9 9 8 8 10 7 9 7 10 8 10 7 10 8 
11 7 11 8 10 8 11 7 12 6 12 7 11 6 12 8 
12 5 12 6 12 7 4750 2018 100 MP stroke
12 7 13 5 13 5 12 6 13 5 13 6 13 5 12 6 
13 5 14 4 13 5 13 4 13 5 13 4 14 3 15 4 
12 6 14 4 14 3 13 2 14 4 12 4 14 3 11 3 
17 0 15 2 14 7 14 4 13 5 14 -2 12 8 13 6 
13 3 6 14 13 4 22 -9 17 -4 13 0 13 5 14 2 
15 0 14 0 15 0 12 2 11 5 8 6 5 7 15 3 
9 7 11 8 19 2 9 5 3 11 12 4 2 12 15 1 
21 -5 20 -2 11 4 19 -3 24 -7 16 1 10 6 15 0 
14 3 0 12 3889 1783 67 MP stroke
SO
gr

c10
0 j
-41 71 -41 -71 82 0 1751 4110 4 MP
0 sg
DP
gs 899 389 5361 4227 MR c np
gr

-41 71 -41 -71 82 0 5324 941 4 MP
DP
gs 899 389 5361 4227 MR c np
gr

2280  294 mt 
(Filtering and smoothing result with 1st order EKF) s
 882 4658 mt 
( ) s
6243  431 mt 
( ) s
1 sg
0 772 1573 0 0 -772 959 1221 4 MP
PP
-1573 0 0 772 1573 0 0 -772 959 1221 5 MP stroke
4 w
DO
SO
6 w
0 sg
 959 1221 mt 2532 1221 L
 959  449 mt 2532  449 L
 959 1221 mt  959  449 L
2532 1221 mt 2532  449 L
 959 1221 mt 2532 1221 L
 959 1221 mt  959  449 L
 959 1221 mt 2532 1221 L
 959  449 mt 2532  449 L
 959 1221 mt  959  449 L
2532 1221 mt 2532  449 L
1405  582 mt 
(Real trajectory) s
gs 959 449 1574 773 MR c np
343 0 1027 540 2 MP stroke
gr

1405  730 mt 
(EKF1 estimate) s
gs 959 449 1574 773 MR c np
DA
c8
343 0 1027 687 2 MP stroke
SO
gr

c8
0 sg
1405  878 mt 
(ERTS estimate) s
gs 959 449 1574 773 MR c np
DD
c9
343 0 1027 835 2 MP stroke
SO
gr

c9
0 sg
1405 1025 mt 
(ETF estimate) s
gs 959 449 1574 773 MR c np
DD
c10
343 0 1027 982 2 MP stroke
SO
gr

c10
0 sg
1405 1173 mt 
(Positions of sensors) s
gs 959 449 1574 773 MR c np
gs 1125 1056 147 147 MR c np
-41 71 -41 -71 82 0 1157 1153 4 MP
DP
gr

gr


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