ungm_f.m

有关kalman滤波及其一些变形滤波算法

% State transition function for the UNGM-model.
%
% Copyright (C) 2007 Jouni Hartikainen
%
% This software is distributed under the GNU General Public 
% Licence (version 2 or later); please refer to the file 
% Licence.txt, included with the software, for details.

function x_n = ungm_f(x,param)
n = param(1);
x_n = 0.5*x(1,:) + 25*x(1,:)./(1+x(1,:).*x(1,:)) + 8*cos(1.2*(n-1));  
if size(x,1) > 1
   x_n = x_n + x(2,:);
end