bot_demo_ekf2.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 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 2 5 -22 -12 -13 -14 12 3 -13 -7 1 -13 -14 
-17 -15 -43 7 2 -2 12 -6 -1 -14 19 -37 11 -19 0 -30 
-10 -18 -17 -9 5 -9 -4 0 -6 -4 14 -9 11 -14 0 -28 
-1 -6 4 0 -7 -8 7 -17 11 6 21 -22 -8 -15 20 -19 
10 -2 1 -14 20 -10 -7 -7 4 -7 -2 -1 9 -13 -7 -16 
12 -40 -5 -24 -22 3 2 -11 7 -37 6 -21 -7 -5 -2 -9 
6 -14 -16 -21 7 -24 9 -2 -6 6 -4 6 0 -22 -13 -31 
9 -21 3 0 -1 -21 0 -5 12 -28 -15 -10 -2 -26 -6 3 
8 4 -5 -17 8 -15 1 -10 -6 -14 14 -5 1 -3 9 -26 
-5 13 12 -10 5 -20 21 -12 7 11 3 -21 3 4 5 -12 
3 -15 2 -7 26 -55 -7 -6 7 -31 -3 -14 -1 -18 10 1 
12 -48 -6 5 9 -53 8 -4 2 14 9 -13 5 -14 2 12 
-13 -7 -16 0 -2 -2 1962 3483 100 MP stroke
-9 -22 -6 22 1 -19 -4 20 5 -8 -5 -12 -5 -6 -3 1 
-4 -11 14 -36 13 -32 -10 -4 -13 2 -19 5 -9 -18 -12 -10 
10 -27 -32 6 -25 8 -40 10 -29 7 -2 -16 -18 -2 -40 11 
-14 -2 -12 -3 -4 -13 -23 0 -17 -3 -55 13 -25 0 -45 7 
12 -13 -49 10 -39 3 -6 -10 -6 -4 -28 -3 -22 -3 -11 -8 
-23 3 -5 0 -9 -6 -12 0 -51 10 -42 -4 -1 -1 -19 -5 
-17 1 -16 0 -5 -3 2 -18 12 -17 -30 7 -17 -2 -10 2 
-35 9 17 -7 -41 -3 -20 -6 -23 3 3 -2 -32 -4 21 2 
-15 -11 -9 -4 -21 -5 -25 12 -31 -4 -24 6 -12 -6 7 -9 
-54 4 -29 0 -30 3 -8 -7 -14 16 -21 -4 -33 7 -24 3 
-10 -12 -24 0 13 0 5 -10 -20 1 -1 2 -38 5 -15 11 
-53 12 -26 2 -51 1 -19 -9 -23 -6 -5 -6 -4 4 -32 3 
15 2 -18 4 -16 -2 3566 3681 100 MP stroke
0 -8 10 -13 -19 -7 -18 -1 23 -13 -6 -8 -37 5 -19 -1 
-22 3 1 1 -49 3 0 17 -35 -5 -10 8 -23 -4 -19 7 
-29 3 -18 0 -38 -1 -26 -2 11 -11 -29 -5 -45 4 -32 5 
-35 -5 -43 -6 -13 -2 -15 4 -27 0 -22 -18 -12 -4 -32 3 
-45 3 -14 -8 -15 1 -22 -4 -39 4 -17 6 -10 -12 -17 -6 
-15 0 -29 -10 -42 5 13 -14 -4 -2 -3 3 -17 20 -39 2 
-42 -4 -31 6 -43 5 5 -2 9 -7 -20 10 -22 4 -14 0 
-26 -11 -34 -7 -7 10 -22 6 -18 -1 -1 2 -20 8 -11 5 
-1 -5 12 -3 -21 -2 -12 14 34 -6 5 5 -10 5 -32 2 
-19 18 -28 13 -5 16 -20 -16 -28 15 -4 23 -47 2 11 13 
-5 5 4 4 -14 8 0 10 1 22 -14 9 -6 6 24 -1 
-5 7 -17 6 2 8 7 14 -7 24 -5 2 -24 30 0 10 
4 7 -26 13 30 -8 5022 3450 100 MP stroke
-11 28 -27 14 -3 21 12 3 9 34 -6 25 11 16 -6 15 
-2 -2 3 6 -4 19 10 13 -4 12 2 22 -15 9 -1 14 
4 26 22 -4 -5 25 -10 15 0 3 1 7 -27 17 3 10 
-22 29 -4 14 11 14 -13 18 -13 5 -9 14 -14 -7 -5 33 
11 -10 -3 8 18 -6 12 23 -14 17 19 23 -14 3 4 22 
-11 15 5 -2 -6 15 -10 14 13 13 8 17 27 21 12 31 
-12 19 -25 16 -5 5 7 11 -15 -7 -15 15 19 0 -11 1 
-7 15 7 8 -16 30 17 3 6 9 15 7 18 4 1 14 
2 -2 -2 19 -11 19 2 13 -2 17 -14 9 0 19 -21 6 
-8 23 -12 22 10 0 7 4 4 18 -4 0 -25 13 -5 10 
6 18 -14 14 8 -8 -7 23 4 5 -3 4 21 -27 -7 7 
8 27 14 13 14 50 -6 12 -1 24 -27 34 -22 16 -8 36 
9 -2 4 -2 9 11 5157 2183 100 MP stroke
15 17 0 -4 8 20 -11 -18 3 -7 -8 49 -1 13 -7 28 
-11 16 21 5 16 2 4 -7 25 -15 7 9 16 5 33 -6 
15 -5 32 10 41 -9 24 -8 -3 23 0 34 19 10 -32 68 
61 -37 -14 30 44 -24 32 -4 39 -33 -28 44 26 1 -17 46 
86 -60 28 -39 72 -47 27 10 88 -45 55 -39 13 15 59 -20 
90 -64 -115 128 -96 127 79 -47 68 -55 -12 16 54 -51 112 -80 
-38 47 13 4 110 -95 4 -1 -115 127 54 -48 6 4 113 -85 
-9 11 -36 65 4 3 90 -70 25 -29 47 -40 -93 98 -22 17 
-19 31 52 -24 6 23 -66 50 6 11 -33 37 -8 16 65 -20 
29 4 -6 23 -43 29 31 -11 37 -3 -3 29 113 -58 80 -7 
-9 17 -42 52 -46 74 21 -25 -90 67 113 -110 305 -211 -121 106 
2 -14 -3 14 -28 0 32 -14 -115 95 71 -24 13 -10 -71 57 
-108 113 55 -14 106 -73 3721 1943 100 MP stroke
-9 65 130 -24 117 86 3483 1816 4 MP stroke
DD
/c9 { 1.000000 0.000000 0.000000 sr} bdef
c9
-2 -10 -1 -11 -2 -11 -2 -10 -1 -11 -2 -10 -2 -11 -1 -11 
-2 -10 -1 -11 -2 -11 -2 -10 -1 -11 -2 -11 -1 -10 -1 -11 
-1 -11 -2 -10 -1 -11 -1 -11 -1 -10 0 -11 -1 -11 -1 -10 
0 -22 -1 -10 0 -22 1 -10 0 -22 1 -10 1 -11 0 -11 
1 -10 1 -11 1 -10 1 -11 0 -11 1 -10 1 -11 1 -11 
1 -10 1 -11 0 -11 1 -11 1 -10 0 -11 1 -11 1 -11 
0 -10 1 -11 0 -11 1 -10 0 -11 1 -11 0 -10 1 -11 
0 -11 1 -10 1 -11 0 -11 1 -10 0 -11 1 -10 1 -10 
1 -11 1 -10 1 -10 1 -11 1 -10 2 -10 1 -10 2 -10 
1 -10 2 -10 1 -10 2 -10 2 -10 1 -9 2 -10 2 -10 
1 -9 1 -10 2 -9 1 -10 1 -9 0 -10 1 -9 0 -37 
-1 -9 -1 -9 -2 -9 -2 -9 -2 -9 -3 -9 -3 -9 -3 -9 
-4 -8 -5 -9 -4 -8 2082 3400 100 MP stroke
-6 -9 -5 -8 -6 -9 -7 -8 -7 -8 -8 -8 -8 -8 -9 -8 
-9 -8 -10 -8 -10 -8 -11 -8 -12 -7 -12 -8 -12 -7 -13 -8 
-13 -7 -14 -7 -14 -7 -14 -7 -15 -7 -15 -6 -15 -7 -15 -6 
-16 -6 -16 -6 -16 -6 -16 -5 -17 -6 -16 -5 -17 -5 -16 -5 
-17 -5 -17 -4 -17 -5 -17 -4 -16 -4 -17 -3 -17 -4 -17 -3 
-17 -3 -17 -3 -17 -3 -17 -3 -17 -2 -17 -3 -17 -2 -17 -2 
-17 -2 -17 -2 -17 -1 -17 -2 -17 -1 -17 -2 -18 -1 -17 -1 
-17 -1 -17 -1 -17 -1 -18 -1 -17 -1 -17 -1 -18 0 -17 -1 
-18 -1 -17 0 -18 -1 -17 0 -18 -1 -17 0 -18 0 -18 -1 
-18 0 -17 0 -18 0 -18 -1 -18 0 -18 0 -17 0 -18 0 
-18 0 -18 0 -18 0 -18 0 -18 0 -18 0 -18 0 -18 0 
-18 0 -18 0 -18 0 -18 0 -18 0 -18 0 -18 0 -18 0 
-19 0 -18 0 -18 0 3644 3703 100 MP stroke
-18 -1 -18 0 -18 0 -18 0 -19 0 -18 0 -18 0 -18 0 
-18 -1 -19 0 -18 0 -18 0 -19 0 -18 0 -19 0 -18 -1 
-19 0 -18 0 -19 0 -18 0 -19 -1 -19 0 -18 0 -19 0 
-19 -1 -18 0 -19 0 -19 0 -18 0 -19 0 -18 0 -19 0 
-18 0 -18 0 -18 0 -18 1 -18 0 -18 1 -18 0 -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 -14 3 
-15 3 -14 3 -14 4 -13 4 -14 4 -13 4 -13 4 -12 5 
-13 4 -12 5 -12 6 -11 5 -12 6 -11 5 -10 6 -11 7 
-10 6 -10 7 -10 7 -9 7 -9 7 -9 7 -9 8 -8 8 
-8 8 -8 8 -8 9 -7 9 -7 9 -7 9 -6 9 -6 9 
-6 10 -6 10 -6 10 -5 10 -5 10 -5 11 -4 10 -5 11 
-4 11 -4 11 -3 11 5020 3358 100 MP stroke
-4 12 -3 11 -3 12 -3 11 -3 12 -3 12 -2 12 -3 12 
-2 12 -2 12 -2 12 -2 12 -2 13 -2 12 -2 12 -1 13 
-2 12 -1 13 -2 12 -1 13 -2 12 -1 12 -1 13 -2 12 
-1 13 -1 12 -1 13 -1 12 -1 12 -1 13 -1 12 -1 12 
-1 12 -1 13 -1 12 0 12 -1 12 -1 12 0 12 -1 12 
0 24 -1 12 0 24 -1 11 0 35 -1 12 0 156 1 11 
0 32 1 10 0 21 1 11 0 10 1 10 0 10 1 11 
1 10 0 10 1 10 1 10 2 10 1 9 1 10 2 10 
2 10 2 10 2 9 2 10 3 9 3 10 2 10 3 9 
4 9 3 10 4 9 4 9 4 9 5 10 5 9 5 9 
5 9 6 9 6 8 6 9 6 9 7 9 8 8 7 9 
8 8 9 9 9 8 9 8 9 9 10 8 10 8 10 8 
11 8 11 8 11 7 4863 2082 100 MP stroke
12 8 12 8 11 7 13 8 12 7 12 7 13 7 13 7 
12 7 13 7 13 7 13 7 14 6 13 6 13 7 13 6 
14 6 13 6 14 6 13 5 13 6 14 5 13 6 13 5 
14 5 13 5 13 5 13 5 14 4 13 5 13 4 13 4 
13 5 13 4 12 4 13 4 13 3 13 4 12 4 13 3 
13 4 12 3 13 4 13 3 12 3 13 3 12 3 13 3 
13 3 12 3 13 3 12 3 13 3 13 3 13 3 12 2 
13 3 13 3 13 2 12 3 13 3 13 2 12 3 13 3 
13 2 12 3 13 2 13 3 12 2 13 3 13 2 12 2 
13 3 13 2 12 3 13 2 13 3 3877 1754 78 MP stroke
/c10 { 0.000000 1.000000 0.000000 sr} bdef
c10
-2 -10 -2 -11 -1 -11 -2 -10 -1 -11 -2 -10 -2 -11 -1 -11 
-2 -11 -1 -11 -1 -11 -2 -10 -2 -10 -2 -11 -1 -10 -2 -11 
-1 -11 -1 -11 -1 -10 -1 -11 -1 -11 -1 -10 -1 -11 0 -10 
-1 -11 0 -64 1 -11 1 -11 0 -10 1 -12 1 -10 1 -11 
0 -10 1 -11 1 -10 1 -11 1 -10 0 -11 1 -10 1 -11 
0 -10 1 -11 0 -11 1 -10 0 -11 1 -10 1 -11 0 -11 
1 -11 0 -21 1 -11 0 -10 1 -11 0 -11 1 -10 0 -21 
1 -11 1 -11 1 -10 0 -10 1 -11 1 -10 2 -10 1 -11 
1 -10 1 -10 2 -11 1 -10 3 -12 2 -11 1 -10 2 -10 
1 -10 2 -10 1 -10 3 -12 0 -8 1 -10 0 -17 2 -11 
0 -10 -1 -8 0 -9 -1 -11 0 -11 -1 -11 -2 -9 -1 -10 
-5 -4 -4 -4 -3 -9 -5 -6 -3 -9 -5 -8 -4 -9 -5 -10 
-6 -7 -6 -7 -7 -8 2116 3412 100 MP stroke
-8 -7 -8 -9 -9 -8 -11 -3 -12 -3 -13 -3 -12 -3 -13 -5 
-16 -5 -12 -4 -13 -6 -10 -8 -11 -8 -16 -6 -14 -7 -11 -9 
-15 -7 -16 -7 -16 -8 -15 -7 -16 -9 -15 -5 -16 -7 -14 -7 
-19 -7 -15 -8 -15 -7 -16 -8 -14 -9 -16 -7 -15 -6 -15 -7 
-14 -7 -10 -11 -12 -8 -10 -10 -15 -5 -22 0 -12 -6 -17 -3 
-14 -5 -15 -4 -13 -4 -22 1 -17 -1 -15 -3 -17 -1 -14 -3 
-15 -2 -14 -3 -21 1 -19 1 -16 -2 -15 -1 -19 0 -12 -3 
-20 1 -17 0 -18 0 -15 -1 -18 0 -17 -1 -17 0 -17 0 
-17 0 -17 0 -18 -1 -16 0 -17 -1 -18 0 -17 0 -17 0 
-18 0 -18 0 -16 0 -18 0 -17 0 -18 0 -17 0 -17 -1 
-17 0 -18 0 -19 1 -18 0 -18 1 -18 0 -17 0 -18 0 
-18 -1 -17 0 -18 0 -18 0 -19 0 -17 0 -18 0 -18 0 
-18 0 -18 -1 -18 0 3678 3705 100 MP stroke
-19 0 -18 0 -18 0 -18 0 -18 0 -18 0 -19 0 -18 -1 
-18 0 -18 0 -19 0 -18 0 -19 0 -18 -1 -19 0 -18 0 
-19 0 -19 0 -18 0 -19 -1 -19 0 -18 0 -18 0 -19 0 
-19 -1 -19 0 -18 0 -19 0 -19 0 -18 0 -18 0 -18 0 
-19 0 -17 1 -19 0 -17 0 -18 1 -18 1 -18 1 -18 1 
-17 1 -17 1 -17 1 -17 2 -16 1 -17 2 -16 2 -16 2 
-16 2 -15 2 -16 3 -15 2 -15 3 -15 3 -14 3 -14 4 
-14 3 -14 4 -13 4 -14 4 -13 4 -13 5 -12 5 -12 5 
-12 5 -11 6 -12 5 -11 6 -10 6 -11 6 -10 7 -10 7 
-10 6 -9 8 -9 7 -9 7 -8 8 -9 8 -8 8 -8 9 
-7 8 -7 9 -7 9 -7 9 -6 9 -6 10 -6 9 -6 10 
-5 10 -6 11 -5 10 -4 10 -5 11 -4 11 -4 11 -3 11 
-4 11 -3 11 -3 12 5025 3335 100 MP stroke
-4 12 -3 11 -3 12 -2 12 -3 12 -2 12 -3 12 -2 12 
-2 12 -2 13 -1 12 -2 12 -2 13 -2 12 -2 13 -2 12 
-1 12 -2 13 -1 12 -2 13 -1 13 -2 12 -1 13 -1 12 
-2 12 -1 13 -1 12 -1 12 -1 13 -1 12 -1 12 0 12 
-1 12 -1 13 -1 12 0 12 -1 12 0 24 -1 12 0 12 
-1 11 0 12 -1 12 0 24 -1 11 0 91 -1 11 0 11 
1 11 0 54 1 11 0 32 1 10 0 11 1 10 0 21 
1 10 1 10 0 11 1 10 1 10 1 10 2 10 1 9 
2 10 1 9 2 10 2 9 2 10 3 10 2 10 2 10 
2 10 4 9 4 9 4 9 4 9 4 10 5 8 4 11 
4 9 5 9 6 9 5 9 6 10 8 7 8 7 7 9 
8 8 7 8 9 8 8 8 9 9 8 9 8 10 8 9 
10 8 10 8 9 9 4888 2095 100 MP stroke
11 7 8 11 11 7 10 10 9 9 11 8 12 6 10 9 
11 7 8 10 14 5 10 8 10 8 9 9 15 4 14 6 
11 7 14 5 19 4 11 6 4 8 12 5 18 4 16 4 
8 5 16 5 11 5 13 3 18 4 15 6 14 3 13 4 
7 1 17 4 9 4 13 3 8 2 16 3 13 2 16 7 
15 4 13 4 11 -3 14 5 16 6 13 2 13 10 13 2 
16 -7 12 -2 10 1 14 4 14 3 13 0 9 1 15 1 
9 3 12 4 8 5 6 5 18 1 11 5 16 5 22 -1 
10 4 7 9 13 2 6 9 15 1 19 -4 19 -3 13 3 
16 -2 20 -6 15 0 13 4 12 0 15 1 4 8 3893 1783 80 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

2260  294 mt 
(Filtering and smoothing result with 2nd 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 
(EKF2 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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