hpro1014.m

自己编写的kalman滤波算法的应用

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

if(value==1)
    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');
else
    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');
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 = sshape_Callback(h, eventdata, handles, varargin)

%MANNER=3;
value=get(handles.sshape,'Value');
if(value==1)
   set(handles.evenspeed,'Enable','off');
   set(handles.accespeed,'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.accespeed,'Enable','on');
   set(handles.circleshape,'Enable','on');
   set(handles.sway,'Enable','on');
   set(handles.rest,'Enable','on');     
end

if(value==1)
    %set(handles.sshapenorthspeed,'Enable','on');
    set(handles.sshapenorthspeedvalue,'Enable','on');
    %set(handles.sshapeyaw,'Enable','on');
    set(handles.sshapeyawvalue,'Enable','on');
    set(handles.sshapeyawfcy,'Enable','on');
    set(handles.sshapeyaworigphase,'Enable','on');
   % set(handles.rest,'Enalbe','on');
else
    %set(handles.sshapenorthspeed,'Enable','off');
    set(handles.sshapenorthspeedvalue,'Enable','off');
    %set(handles.sshapeyaw,'Enable','on');
    set(handles.sshapeyawvalue,'Enable','off');
    set(handles.sshapeyawfcy,'Enable','off');
    set(handles.sshapeyaworigphase,'Enable','off');
    %set(handles.rest,'Enalbe','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 = circleshape_Callback(h, eventdata, handles, varargin)

%MANNER=4;
value=get(handles.circleshape,'Value');
if(value==1)
   set(handles.evenspeed,'Enable','off');
   set(handles.sshape,'Enable','off');
   set(handles.accespeed,'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.accespeed,'Enable','on');
   set(handles.sway,'Enable','on');
   set(handles.rest,'Enable','on');     
end
if(value==1)
    set(handles.circleshapevalue,'Enable','on');
else
    set(handles.circleshapevalue,'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');