bot_demo_ekf1.ps

有关kalman滤波及其一些变形滤波算法

16 4 16 5 17 4 16 4 17 4 17 3 17 3 17 3 
18 2 17 3 18 1 17 2 18 1 18 1 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 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 18 0 
18 0 17 0 18 0 18 0 18 0 18 0 18 0 18 0 
18 0 17 0 18 0 3687 1974 100 MP stroke
18 0 18 0 18 0 18 0 18 0 3597 1974 6 MP stroke
DA
/c8 { 0.000000 0.000000 1.000000 sr} bdef
c8
-8 -2 6 3 -6 -18 12 -10 -2 -29 14 -31 5 -3 -20 -4 
4 -14 -7 -22 0 -5 -12 -13 0 -22 -19 -8 -3 -8 -2 -20 
-3 -30 9 2 7 -9 -2 -10 1 -16 9 -27 6 -26 -8 -30 
-11 -4 27 -18 -11 2 -7 18 -3 -34 3 2 0 -5 -1 -22 
-12 -5 -12 -7 11 -20 -9 18 -1 -18 -6 -13 5 -22 7 5 
1 7 0 -6 4 -28 2 -32 -5 -1 -11 10 -8 -10 5 -21 
-8 -16 -7 8 10 -20 -1 -14 11 -10 8 -11 -5 -4 5 -21 
-7 12 1 -22 9 -11 -2 -10 -4 6 -3 -18 2 -12 -1 -20 
0 7 1 1 5 -29 -5 3 -2 -14 3 -17 3 -20 -1 -13 
7 -2 -11 7 -1 2 21 -22 -10 -1 -11 -1 14 -6 1 -12 
-7 -11 2 -24 6 5 -3 -9 -16 0 23 -39 2 -15 -3 -10 
1 2 -2 10 6 -13 -6 11 6 -7 19 -35 4 -3 0 11 
-8 -2 5 -9 -15 18 2047 3305 100 MP stroke
1 -24 3 -13 2 -46 19 -39 4 -27 1 -26 -14 -16 -2 -9 
-12 -9 -8 -15 -13 -2 -2 -25 -3 -25 -33 4 7 -22 -7 -4 
12 -24 -27 6 -30 8 -12 -12 13 -24 -18 1 -19 0 -2 -10 
-31 5 3 -10 13 -16 -20 -1 -16 -2 0 -9 -9 -6 47 -35 
-49 13 -63 19 -51 11 -37 5 -18 -5 -20 -1 -13 -3 -4 -3 
-16 -3 -31 6 -5 -2 -2 -2 -13 -2 -34 9 -16 1 -44 7 
-20 5 -3 1 -12 -4 -17 -1 -51 2 -33 -6 3 1 -21 -1 
-21 -1 -42 4 -7 -6 -8 4 -24 3 -4 -6 -54 2 -12 -8 
-17 1 11 -8 -24 0 5 -7 -27 1 -21 -1 -28 -9 -51 0 
-4 -5 -14 8 -25 3 -6 3 2 -2 17 -2 -44 17 -28 -7 
-15 -2 14 0 -37 4 -25 5 -23 5 8 -6 -26 -9 -5 -11 
7 -10 -8 -8 1 -2 -16 4 -1 -12 -21 6 -9 -3 -44 -3 
-27 -2 -55 5 -20 1 3498 3739 100 MP stroke
3 -5 -15 11 -10 0 -26 -6 -16 0 7 1 -13 10 -37 0 
-9 11 -21 -12 -39 7 -4 -7 -15 -6 -28 3 -13 -3 -16 0 
-23 -4 -24 -4 -26 1 -3 10 -7 -5 -31 9 -20 -1 -44 -5 
-18 -11 -41 11 -18 -4 -14 -13 -42 -4 -47 -5 -22 -4 -73 0 
6 8 -5 7 -19 -1 -47 11 -35 -13 -20 5 -21 0 -25 -18 
-33 -7 -1 7 -9 -5 -21 -5 -17 8 -21 -6 -25 -3 -16 3 
-9 -1 -7 0 -42 -2 -15 15 -23 7 -31 -9 -20 -3 10 -10 
-25 1 -6 -2 -16 6 -18 4 -6 4 -18 13 -6 -6 -12 0 
-41 1 -10 2 5 6 -13 3 -17 14 -12 17 -2 13 3 19 
12 17 -15 2 -3 8 -19 9 6 10 -1 10 -6 10 -28 8 
-19 3 10 10 1 10 -9 25 -16 23 10 16 -18 12 -14 22 
-9 0 16 10 4 -6 -48 -3 -12 -10 -20 8 -7 27 4 21 
6 36 -31 12 -6 6 5055 3385 100 MP stroke
-33 26 -3 -1 -3 8 -3 5 -7 15 2 6 22 0 19 18 
0 17 2 16 -1 22 -1 21 -15 14 11 16 1 13 -27 11 
17 8 5 5 21 0 -10 -5 14 2 7 3 5 16 -17 26 
1 9 -3 11 -22 11 -7 15 -4 -4 5 18 8 13 8 -6 
-2 -2 23 12 11 10 3 -3 -6 29 9 5 4 5 11 23 
-12 30 -17 2 -10 25 13 14 -2 6 -4 2 -7 24 3 4 
29 18 -19 14 5 16 4 23 7 10 -6 -4 -1 14 -3 20 
10 -14 -13 6 2 34 13 -7 -3 26 9 2 0 37 -7 0 
1 0 -8 -11 -8 9 5 -1 -23 39 -8 22 -13 9 0 15 
11 1 -15 10 -4 -12 -4 19 -23 12 14 -4 3 13 22 2 
0 21 21 12 -11 4 8 -2 -23 47 -21 23 -14 0 -13 39 
-7 3 -2 -9 18 23 1 29 7 -6 3 -4 -10 -11 9 21 
20 16 -3 33 -1 15 5087 2298 100 MP stroke
-8 21 4 -4 -19 29 -9 33 -6 -12 1 9 17 -21 2 2 
-14 16 25 -26 14 10 18 0 -10 23 -4 18 12 -3 19 8 
-3 13 15 16 -17 40 0 22 38 -1 18 -6 -4 10 10 25 
26 6 11 12 52 -12 10 3 38 -34 21 9 33 -15 31 -29 
13 -27 29 8 20 -6 -49 74 -35 70 -26 50 -22 60 35 -13 
75 -58 45 2 51 -32 -77 91 -24 40 107 -80 79 -53 129 -86 
-8 38 59 -43 94 -77 -39 32 -11 26 -53 78 -114 108 108 -82 
-53 60 86 -47 34 -19 -27 22 8 14 40 -40 37 -22 196 -152 
-70 78 60 -37 -50 53 -96 89 152 -83 -2 15 -50 44 -19 24 
56 -20 71 -25 0 10 -19 22 -3 0 31 -4 36 -1 66 -29 
50 11 17 1 -5 35 130 -80 55 -47 -18 46 -39 49 18 6 
4 8 93 -30 12 13 62 -29 0 5 179 -86 -97 61 -149 101 
-76 54 -143 128 -58 -16 3861 1834 100 MP stroke
203 -188 7 -27 22 -3 -134 210 3763 1842 5 MP stroke
DD
/c9 { 1.000000 0.000000 0.000000 sr} bdef
c9
-1 -11 -2 -12 -1 -11 -1 -11 -1 -11 -2 -11 -1 -11 -1 -11 
-1 -11 -2 -11 -1 -11 -1 -11 -2 -11 -1 -12 -1 -11 -2 -11 
-1 -11 -2 -11 -1 -11 -1 -11 -2 -11 -1 -11 -1 -11 -1 -11 
-2 -11 -1 -11 -1 -11 -1 -11 -1 -11 -1 -10 -1 -11 -1 -11 
-1 -11 -1 -10 -1 -11 -1 -11 -1 -10 -1 -11 -1 -10 -1 -11 
0 -10 -1 -10 -1 -11 0 -10 -1 -10 -1 -10 0 -10 -1 -10 
0 -10 -1 -10 0 -10 -1 -10 0 -20 -1 -9 0 -48 -1 -10 
0 -110 -1 -9 0 -44 -1 -9 0 -17 -1 -9 0 -8 -1 -9 
-1 -8 0 -9 -1 -8 -1 -8 -1 -9 -1 -8 -2 -8 -1 -9 
-2 -8 -2 -8 -2 -8 -2 -9 -2 -8 -3 -8 -3 -8 -4 -8 
-4 -8 -4 -9 -5 -8 -5 -8 -6 -8 -6 -8 -7 -8 -7 -9 
-8 -8 -8 -8 -9 -8 -9 -8 -10 -8 -10 -8 -11 -9 -11 -8 
-12 -7 -12 -8 -12 -8 2277 3496 100 MP stroke
-13 -8 -12 -7 -13 -8 -14 -7 -13 -8 -14 -7 -13 -7 -14 -7 
-15 -6 -14 -7 -14 -6 -15 -7 -15 -6 -14 -6 -15 -6 -15 -6 
-15 -5 -16 -6 -15 -5 -15 -5 -15 -4 -15 -5 -15 -4 -15 -5 
-16 -3 -15 -4 -15 -4 -15 -3 -15 -4 -15 -3 -16 -3 -15 -3 
-15 -2 -16 -3 -15 -2 -16 -3 -15 -2 -16 -2 -16 -3 -15 -2 
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-16 -1 -17 -1 -17 -1 -16 0 -17 -1 -16 0 -17 -1 -17 0 
-16 -1 -17 0 -17 -1 -17 0 -17 -1 -17 -1 -17 0 -17 -1 
-17 0 -17 -1 -17 0 -18 -1 -17 0 -17 0 -18 -1 -17 0 
-18 -1 -17 0 -18 0 -17 -1 -18 0 -18 0 -17 -1 -18 0 
-18 0 -18 0 -18 -1 -18 0 -18 0 -18 0 -18 -1 -19 0 
-18 0 -18 0 -19 0 3874 3730 100 MP stroke
-18 0 -19 -1 -18 0 -19 0 -18 0 -19 0 -19 0 -19 0 
-19 0 -18 0 -19 0 -19 0 -19 0 -19 0 -19 0 -18 0 
-19 1 -19 0 -19 0 -18 1 -19 1 -18 0 -18 1 -18 1 
-18 1 -18 1 -18 1 -18 2 -17 1 -18 2 -17 2 -17 2 
-16 2 -17 2 -16 2 -16 3 -16 3 -16 3 -15 3 -16 3 
-15 3 -14 4 -15 4 -14 4 -14 5 -14 4 -13 5 -13 5 
-13 5 -12 6 -12 5 -12 6 -12 6 -11 7 -11 6 -11 7 
-11 7 -10 8 -10 7 -9 8 -10 8 -9 8 -9 8 -8 8 
-9 9 -8 9 -8 9 -7 9 -8 9 -7 9 -7 10 -7 9 
-6 10 -7 10 -6 10 -6 10 -6 10 -5 10 -6 10 -5 11 
-5 10 -4 11 -5 11 -4 10 -4 11 -4 11 -4 11 -3 11 
-4 11 -3 11 -2 11 -3 12 -3 11 -2 11 -2 11 -2 11 
-2 12 -2 11 -1 11 5039 3186 100 MP stroke
-1 11 -2 12 -1 11 -1 11 -1 11 -1 11 0 12 -1 11 
0 11 -1 11 0 88 1 11 0 11 1 11 0 11 1 10 
0 11 1 11 1 11 0 11 1 10 1 11 0 11 1 10 
1 11 1 11 1 10 0 11 1 10 1 11 0 10 1 10 
1 10 0 11 1 10 0 10 1 10 0 10 1 10 0 20 
1 10 0 48 1 10 0 37 1 10 0 9 1 9 0 10 
1 9 0 9 1 9 1 9 1 9 1 9 1 9 1 9 
2 9 1 9 2 8 2 9 2 9 2 9 3 8 3 9 
2 8 4 9 3 8 3 9 4 8 4 8 5 8 4 9 
5 8 5 8 6 8 6 8 6 8 6 8 7 8 7 7 
8 8 8 8 8 8 9 7 9 8 9 7 10 8 10 7 
11 8 11 7 11 7 12 7 12 7 12 8 12 7 13 6 
13 7 13 7 14 7 4720 2117 100 MP stroke
13 6 14 7 14 6 14 7 14 6 15 6 15 6 14 6 
15 6 15 6 15 6 16 6 15 5 15 6 15 5 16 5 
15 6 15 5 15 4 16 5 15 5 15 4 15 5 15 4 
14 4 15 5 15 4 15 3 14 4 15 4 15 4 14 3 
15 4 14 3 15 3 14 4 15 3 14 3 15 3 14 3 
15 3 14 3 15 3 14 3 15 3 14 3 15 3 14 3 
15 2 14 3 15 3 14 2 15 3 14 3 15 2 14 3 
14 2 14 3 15 2 14 3 14 2 14 3 14 2 15 2 
14 3 14 2 14 3 3743 1855 68 MP stroke
/c10 { 0.000000 1.000000 0.000000 sr} bdef
c10
-1 -11 -2 -11 -1 -12 -1 -11 -1 -11 -2 -11 -1 -11 -1 -11 
-1 -11 -2 -11 -1 -11 -1 -11 -2 -11 -1 -12 -2 -11 -1 -11 
-1 -11 -2 -11 -1 -11 -1 -11 -2 -11 -1 -11 -1 -11 -2 -11 
-1 -11 -1 -11 -1 -11 -1 -11 -1 -11 -1 -11 -1 -10 -1 -11 
-1 -11 -2 -11 0 -10 -1 -11 -1 -10 -1 -11 -1 -10 -1 -11 
0 -10 -1 -11 -1 -10 0 -10 -1 -10 -1 -10 0 -11 -1 -10 
0 -10 -1 -10 0 -9 -1 -10 0 -30 -1 -9 0 -39 -1 -9 
0 -92 -1 -9 0 -53 -1 -9 0 -17 -1 -9 0 -9 -1 -8 
0 -8 -1 -9 -1 -9 -1 -8 -1 -9 -1 -8 0 -9 -2 -8 
-1 -9 0 -12 -2 -9 -1 -10 -3 -6 -2 -10 -3 -7 -3 -8 
-3 -10 -5 -6 -2 -12 -5 -8 -7 -6 -10 -3 -7 -8 -9 -5 
-9 -6 -10 -7 -10 -6 -11 -7 -10 -9 -11 -7 -10 -7 -12 -7 
-12 -9 -11 -9 -11 -8 2280 3480 100 MP stroke
-13 -5 -13 -9 -12 -8 -13 -6 -12 -9 -14 -6 -13 -7 -14 -7 
-14 -7 -13 -7 -14 -7 -11 -10 -20 -4 -15 -6 -13 -7 -14 -6 
-14 -7 -15 -5 -16 -4 -16 -5 -15 -5 -15 -6 -13 -6 -12 -8 
-13 -6 -12 -6 -12 -6 -16 -4 -12 -6 -9 -8 -15 -3 -16 -3 
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-16 -1 -15 -1 -14 -2 -19 1 -17 -1 -15 -1 -17 0 -17 -1 
-16 0 -17 -1 -18 1 -18 0 -17 -1 -16 0 -18 -1 -17 0 
-17 0 -17 -1 -17 0 -17 -1 -17 0 -17 -1 -18 0 -17 0 
-18 -1 -18 0 -17 0 -18 -1 -18 0 -17 0 -18 0 -17 -1 
-19 0 -17 0 -19 0 -18 -1 -18 0 -18 0 -18 0 -18 0 
-18 -1 -19 0 -18 0 3854 3730 100 MP stroke
-19 0 -18 0 -19 -1 -18 0 -19 0 -19 0 -19 0 -18 0 
-19 0 -18 0 -19 0 -19 0 -20 0 -19 0 -19 0 -19 0 
-19 0 -19 0 -18 1 -19 0 -18 1 -19 0 -18 1 -18 1 
-19 1 -18 1 -17 1 -18 1 -18 1 -18 1 -17 2 -17 2 
-18 2 -16 2 -17 2 -16 2 -16 3 -16 2 -16 3 -15 3 
-16 4 -15 3 -14 4 -15 4 -14 4 -14 4 -14 5 -13 4 
-13 5 -13 6 -13 5 -12 6 -11 6 -12 6 -11 6 -11 7 
-11 7 -10 7 -10 7 -10 8 -10 8 -9 8 -9 8 -8 8 
-8 9 -8 8 -9 9 -7 9 -8 9 -7 10 -8 9 -8 10 
-7 9 -6 10 -6 10 -6 10 -6 9 -6 11 -5 10 -6 10 
-5 11 -5 11 -5 10 -5 11 -4 11 -4 11 -3 10 -4 11 
-3 11 -3 11 -3 11 -3 12 -2 11 -3 11 -3 11 -2 12 
-2 11 -2 11 -2 12 5037 3196 100 MP stroke
-1 11 -2 11 -1 12 -1 11 -1 11 -1 11 -1 11 -1 11 
-1 11 0 12 -1 11 0 33 -1 11 0 11 1 11 0 33 
1 11 0 10 1 11 0 11 1 11 1 11 0 10 1 11 
1 11 0 11 1 10 1 11 1 10 0 11 1 11 1 10 
1 11 0 10 1 10 1 11 0 10 1 10 1 10 0 20 
1 10 0 10 1 10 0 30 1 10 0 48 1 9 0 19 
1 9 0 9 1 9 0 10 1 9 0 19 1 9 1 9 
1 10 2 8 1 8 2 9 2 9 1 9 3 8 2 8 
3 9 2 8 3 9 3 9 3 9 3 8 3 10 4 8 
5 8 4 8 5 9 5 7 6 7 6 8 5 8 7 8 
6 8 8 7 7 8 8 7 8 8 8 7 10 6 10 8 
9 8 11 7 10 7 11 7 11 8 11 8 10 8 11 8 
12 8 12 7 14 4 4755 2141 100 MP stroke
11 9 13 6 14 5 14 7 14 6 14 6 15 7 13 7 
13 8 14 7 15 4 15 6 13 8 14 7 11 10 15 5 
16 4 15 6 22 0 16 4 16 5 16 5 15 4 16 5 
15 5 15 4 16 4 15 5 15 4 16 4 16 0 14 6 
16 3 14 5 12 6 18 0 14 4 14 5 14 3 18 -1 
16 2 14 3 14 4 11 8 16 1 17 1 15 2 16 0 
15 3 13 3 18 1 14 6 13 2 11 5 13 3 12 5 
17 1 10 6 12 5 6 8 16 3 -7 17 -1 11 7 7 
6 8 12 3 4 10 16 0 26 -8 17 -1 3794 1824 71 MP stroke
SO
gr

c10
0 j
-41 71 -41 -71 82 0 1751 4111 4 MP
0 sg
DP
gs 899 389 5363 4228 MR c np
gr

-41 71 -41 -71 82 0 5326 941 4 MP
DP
gs 899 389 5363 4228 MR c np
gr

2281  294 mt 
(Filtering and smoothing result with 1st order EKF) s
 882 4659 mt 
( ) s
6245  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  449 mt 2532  449 L
 959 1221 mt 2532 1221 L
2532 1221 mt 2532  449 L
 959 1221 mt  959  449 L
 959 1221 mt 2532 1221 L
 959 1221 mt  959  449 L
 959  449 mt 2532  449 L
 959 1221 mt 2532 1221 L
2532 1221 mt 2532  449 L
 959 1221 mt  959  449 L
1424  583 mt 
(Real trajectory) s
gs 959 449 1574 773 MR c np
358 0 1030 540 2 MP stroke
gr

1424  730 mt 
(EKF1 estimate) s
gs 959 449 1574 773 MR c np
DA
c8
358 0 1030 687 2 MP stroke
SO
gr

c8
0 sg
1424  878 mt 
(ERTS estimate) s
gs 959 449 1574 773 MR c np
DD
c9
358 0 1030 835 2 MP stroke
SO
gr

c9
0 sg
1424 1025 mt 
(ETF estimate) s
gs 959 449 1574 773 MR c np
DD
c10
358 0 1030 982 2 MP stroke
SO
gr

c10
0 sg
1424 1172 mt 
(Positions of sensors) s
gs 959 449 1574 773 MR c np
gs 1136 1056 147 147 MR c np
-41 71 -41 -71 82 0 1168 1153 4 MP
DP
gr

gr


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