hpro1014.m

自己编写的kalman滤波算法的应用

function varargout = hpro1014(varargin)
% HPRO1014 Application M-file for hpro1014.fig
%    FIG = HPRO1014 launch hpro1014 GUI.
%    HPRO1014('callback_name', ...) invoke the named callback.

% Last Modified by GUIDE v2.0 16-Oct-2003 15:56:25

if nargin == 0  % LAUNCH GUI

	fig = openfig(mfilename,'reuse');

	% Generate a structure of handles to pass to callbacks, and store it. 
	handles = guihandles(fig);
	guidata(fig, handles);

	if nargout > 0
		varargout{1} = fig;
	end

elseif ischar(varargin{1}) % INVOKE NAMED SUBFUNCTION OR CALLBACK

	try
		if (nargout)
			[varargout{1:nargout}] = feval(varargin{:}); % FEVAL switchyard
		else
			feval(varargin{:}); % FEVAL switchyard
		end
	catch
		disp(lasterr);
	end

end


%| ABOUT CALLBACKS:
%| GUIDE automatically appends subfunction prototypes to this file, and 
%| sets objects' callback properties to call them through the FEVAL 
%| switchyard above. This comment describes that mechanism.
%|
%| Each callback subfunction declaration has the following form:
%| <SUBFUNCTION_NAME>(H, EVENTDATA, HANDLES, VARARGIN)
%|
%| The subfunction name is composed using the object's Tag and the 
%| callback type separated by '_', e.g. 'slider2_Callback',
%| 'figure1_CloseRequestFcn', 'axis1_ButtondownFcn'.
%|
%| H is the callback object's handle (obtained using GCBO).
%|
%| EVENTDATA is empty, but reserved for future use.
%|
%| HANDLES is a structure containing handles of components in GUI using
%| tags as fieldnames, e.g. handles.figure1, handles.slider2. This
%| structure is created at GUI startup using GUIHANDLES and stored in
%| the figure's application data using GUIDATA. A copy of the structure
%| is passed to each callback.  You can store additional information in
%| this structure at GUI startup, and you can change the structure
%| during callbacks.  Call guidata(h, handles) after changing your
%| copy to replace the stored original so that subsequent callbacks see
%| the updates. Type "help guihandles" and "help guidata" for more
%| information.
%|
%| VARARGIN contains any extra arguments you have passed to the
%| callback. Specify the extra arguments by editing the callback
%| property in the inspector. By default, GUIDE sets the property to:
%| <MFILENAME>('<SUBFUNCTION_NAME>', gcbo, [], guidata(gcbo))
%| Add any extra arguments after the last argument, before the final
%| closing parenthesis.

% global MG;
% global MA;
% global SG;
% global SA;
% global ST;
 % global MANNER;
% MANNER=0;
% size=get(0,'ScreenSize');
% %errordlg(num2str(size));
% set(0,'Position','[1 1 1024 768]');

% set(handles.eastspeed,'Enable','off');
% set(handles.eastspeedvalue,'Enable','off');
% set(handles.northspeed,'Enable','off');
% set(handles.northspeedvalue,'Enable','off');


% %--------------------------------------------------------------------
 %function varargout = figure1_CreateFcn(h, eventdata, handles, varargin)


% --------------------------------------------------------------------
function varargout = sgyrodrift_Callback(h, eventdata, handles, varargin)




% --------------------------------------------------------------------
function varargout = mgyrodrift_Callback(h, eventdata, handles, varargin)




% --------------------------------------------------------------------
function varargout = maccebais_Callback(h, eventdata, handles, varargin)




% --------------------------------------------------------------------
function varargout = saccebias_Callback(h, eventdata, handles, varargin)




% --------------------------------------------------------------------
function varargout = ok_Callback(h, eventdata, handles, varargin)

%errordlg;
%set(handles.mgyrodrift,'String','faint');

% p1=get(handles.mgyrodrift,'String');
% p2=get(handles.maccebias,'String');
% p3=get(handles.sgyrodrift,'String');
% p4=get(handles.saccebias,'String');
% p5=get(handles.simutime,'String');
% 
% % errordlg(p1);
% % errordlg(p2);
% % errordlg(p3);
% % errordlg(p4);
% 
% MG=str2num(p1);
% MA=str2num(p2);
% SG=str2num(p3);
% SA=str2num(p4);
% ST=str2num(p5);

% v1=get(handles.evenspeed,'value');
% v2=get(handles.accespeed,'value');
% v3=get(handles.sway,'value');
% v4=get(handles.sshape,'value');
% v5=get(handles.circleshape,'value');
% v6=get(handles.rest,'value');
% 
% 
% if  v1==1
%     style=1;
% elseif v2==1
%     style=2;
% elseif  v3==1
%     style=3;
% elseif v4==1
%     style=4;
% elseif v5==1
%     style=5;
% elseif v6==1
%     style==6;
% else
%     style=0;
% end


%%%%%%the following is inserted on 2003, 9,16
vsmatch=get(handles.smatch,'Value');
vamatch=get(handles.amatch,'value');
varmatch=get(handles.armatch,'value');
vspmatch=get(handles.spmatch,'Value');
vsamatch=get(handles.samatch,'Value');
vsarmatch=get(handles.sarmatch,'Value');

switch 1
case vsmatch,
    %errordlg('smatch');
    h_speed1017;
    
case vspmatch
    %errordlg('spmatch');
    h_speedposition1017;
case vsamatch
    h_speedattitudematrix1017;
case vsarmatch
    h_speedanglerate1017;
case vamatch
    h_attitudematrix1017;
case varmatch
    h_anglerate1017;
end

%%%%%%%%%end of 2003,9.16

  
% save para MG MA SG SA ST manner;
errordlg;
close ;

% --------------------------------------------------------------------
function varargout = cancel_Callback(h, eventdata, handles, varargin)

%set(handles.cancel,'Callback''close');
%errordlg;
% MG=0;
% MA=0;
% SG=0;
% SA=0;
% ST=0;
% manner=0;
% 
% save para MG MA SG SA ST manner;
close ;




% --------------------------------------------------------------------
function varargout = edit5_Callback(h, eventdata, handles, varargin)




% % --------------------------------------------------------------------
% function varargout = radiobutton1_Callback(h, eventdata, handles, varargin)
% 
% 
% 
% 
% % --------------------------------------------------------------------
% function varargout = radiobutton2_Callback(h, eventdata, handles, varargin)
% 
% 
% 
% 
% % --------------------------------------------------------------------
% function varargout = radiobutton3_Callback(h, eventdata, handles, varargin)
% 
% 
% 
% 
% % --------------------------------------------------------------------
% function varargout = radiobutton4_Callback(h, eventdata, handles, varargin)
% 



% --------------------------------------------------------------------
function varargout = evenspeed_ButtonDownFcn(h, eventdata, handles, varargin)

%errordlg('evenspeed');


% --------------------------------------------------------------------
function varargout = evenspeed_Callback(h, eventdata, handles, varargin)

%MANNER=1;
value=get(handles.evenspeed,'Value');
if(value==1)
   set(handles.accespeed,'Enable','off');
   set(handles.sshape,'Enable','off');
   set(handles.circleshape,'Enable','off');
   set(handles.sway,'Enable','off');
   set(handles.rest,'Enable','off');
else
   set(handles.accespeed,'Enable','on');
   set(handles.sshape,'Enable','on');
   set(handles.circleshape,'Enable','on');
   set(handles.sway,'Enable','on');     
   set(handles.rest,'Enable','on');
end

value=get(handles.evenspeed,'Value');
if(value==1)
    set(handles.eastspeed,'Enable','on');
    set(handles.northspeed,'Enable','on');
    %set(handles.eastspeedvalue,'Enable','on');
    %set(handles.northspeedvalue,'Enable','on');
     
else
    set(handles.eastspeed,'Enable','off');
    set(handles.northspeed,'Enable','off');
    set(handles.eastspeedvalue,'Enable','off');
    set(handles.northspeedvalue,'Enable','off');
end

if(value==1)
%     %%%%把匀速运动的参数失效
%     set(handles.eastspeed,'Enable','off');
%     set(handles.northspeed,'Enable','off');
%     set(handles.eastspeedvalue,'Enable','off');
%     set(handles.northspeedvalue,'Enable','off');
    %%%%把匀加速运动得到有关参数失效；
    set(handles.eastaccer,'Enable','off');
    set(handles.northaccer,'Enable','off');
    set(handles.eastaccervalue,'Enable','off');
    set(handles.northaccervalue,'Enable','off');
    %%%%把摇摆运动的有关参数失效
    set(handles.pitch,'Enable','off');
    set(handles.roll,'Enable','off');
    set(handles.yaw,'Enable','off');
    
%     
     set(handles.pitchvalue,'Enable','off');
     set(handles.rollvalue,'Enable','off');
     set(handles.yawvalue,'Enable','off');
%     
     set(handles.pitchfcy,'Enable','off');
     set(handles.rollfcy,'Enable','off');
     set(handles.yawfcy,'Enable','off');
%     
     set(handles.pitchorigphase,'Enable','off');
     set(handles.rollorigphase,'Enable','off');
     set(handles.yaworigphase,'Enable','off');
     %%%b把s行机动的参数失效
     %set(handles.sshapenorthspeed,'Enable','off');
     set(handles.sshapenorthspeedvalue,'Enable','off');
     set(handles.sshapeyawvalue,'Enable','off');
     set(handles.sshapeyawfcy,'Enable','off');
     set(handles.sshapeyaworigphase,'Enable','off');
     %%%%把圆形运动的参数失效
     set(handles.circleshapevalue,'Enable','off');
     
    
else
%     %%%把匀速运动的参数生效
%     set(handles.eastspeed,'Enable','on');
%     set(handles.northspeed,'Enable','on');
%     set(handles.eastspeedvalue,'Enable','on');
%     set(handles.northspeedvalue,'Enable','on');
    %%%%把匀加速运动得到有关参数生效；
%     set(handles.eastaccer,'Enable','on');
%     set(handles.northaccer,'Enable','on');
%     set(handles.eastaccervalue,'Enable','on');
%     set(handles.northaccervalue,'Enable','on');
%     %%%%把摇摆运动的有关参数生效
%      set(handles.pitch,'Enable', 'on');
%     set(handles.roll,'Enable', 'on');
%     set(handles.yaw,'Enable', 'on');
% %     
%      set(handles.pitchvalue,'Enable','on');
%      set(handles.rollvalue,'Enable','on');
%      set(handles.yawvalue,'Enable','on');
% %     
%      set(handles.pitchfcy,'Enable','on');
%      set(handles.rollfcy,'Enable','on');
%      set(handles.yawfcy,'Enable','on');
% %     
%      set(handles.pitchorigphase,'Enable','on');
%      set(handles.rollorigphase,'Enable','on');
%      set(handles.yaworigphase,'Enable','on');
%      %%%%%把s行运动的参数生效
%      set(handles.sshapenorthspeed,'Enable','on');
%      set(handles.sshapenorthspeedvalue,'Enable','on'); 
%      set(handles.sshapeyawvalue,'Enable','on');
%      set(handles.sshapeyawfcy,'Enable','on');
%      set(handles.sshapeyaworigphase,'Enable','on');
%      %%%%%把圆形运动的参数生效
%      set(handles.circleshapevalue,'Enable','on');
    
 end
 
set(handles.smatch,'Enable','off');
set(handles.samatch,'Enable','off');
set(handles.sarmatch,'Enable','off');
set(handles.spmatch,'Enable','off');
set(handles.armatch,'Enable','off');
set(handles.amatch,'Enable','off');




% --------------------------------------------------------------------
function varargout = accespeed_Callback(h, eventdata, handles, varargin)

%MANNER=2;
value=get(handles.accespeed,'Value');
if(value==1)
   set(handles.evenspeed,'Enable','off');
   set(handles.sshape,'Enable','off');
   set(handles.circleshape,'Enable','off');
   set(handles.sway,'Enable','off');
   set(handles.rest,'Enable','off');
else
   set(handles.evenspeed,'Enable','on');
   set(handles.sshape,'Enable','on');
   set(handles.circleshape,'Enable','on');
   set(handles.sway,'Enable','on'); 
   set(handles.rest,'Enable','on');
end
if(value==1)
    set(handles.eastaccer,'Enable','on');
    set(handles.northaccer,'Enable','on');
    %set(handles.eastaccervalue,'Enable','on');
    %set(handles.northaccervalue,'Enable','on');
    
else
    set(handles.eastaccer,'Enable','off');
    set(handles.northaccer,'Enable','off');
    set(handles.eastaccervalue,'Enable','off');
    set(handles.northaccervalue,'Enable','off');
    
end