bot_demo_ukf.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 -1 5 3 -6 -18 13 -10 -2 -29 14 -31 5 -3 -20 -4 
4 -15 -7 -22 -1 -4 -11 -13 -1 -22 -19 -9 -3 -7 -1 -21 
-3 -30 8 2 8 -9 -2 -10 1 -15 9 -28 5 -26 -7 -29 
-12 -4 27 -19 -10 3 -7 18 -3 -34 3 1 0 -5 -1 -22 
-12 -5 -12 -7 11 -20 -9 18 -1 -18 -6 -13 5 -22 7 5 
0 7 1 -6 4 -28 2 -32 -5 -1 -11 10 -8 -10 5 -21 
-8 -16 -7 8 10 -21 -1 -13 10 -10 9 -11 -5 -4 5 -22 
-7 13 1 -23 9 -11 -2 -10 -3 7 -4 -19 3 -11 -2 -21 
1 7 0 1 5 -28 -5 2 -2 -14 4 -17 2 -19 -1 -14 
8 -2 -11 7 -2 2 22 -22 -11 -1 -10 -1 13 -6 2 -13 
-7 -10 2 -25 6 5 -3 -8 -16 0 23 -39 2 -15 -3 -10 
1 2 -2 10 6 -14 -6 12 5 -8 19 -34 4 -3 0 11 
-8 -2 5 -9 -15 18 2047 3307 100 MP stroke
1 -24 3 -13 2 -45 19 -40 3 -27 2 -25 -15 -16 -1 -9 
-13 -9 -8 -16 -13 -2 -2 -24 -2 -26 -34 4 8 -21 -7 -5 
11 -24 -26 7 -30 7 -13 -11 14 -25 -18 2 -19 0 -2 -11 
-31 6 2 -10 13 -16 -19 -1 -17 -2 0 -9 -10 -5 48 -36 
-48 13 -62 19 -51 11 -37 5 -18 -5 -20 -1 -13 -3 -4 -3 
-16 -3 -32 6 -5 -2 -1 -2 -13 -2 -34 9 -16 1 -44 7 
-20 5 -3 1 -12 -4 -17 -1 -51 3 -33 -7 3 1 -21 0 
-21 -2 -42 4 -7 -6 -8 5 -24 2 -4 -6 -54 2 -12 -8 
-17 1 11 -7 -24 0 5 -8 -27 2 -21 -1 -28 -9 -51 0 
-4 -5 -15 8 -24 3 -6 3 2 -3 17 -1 -44 16 -28 -6 
-15 -3 14 0 -37 5 -25 5 -23 5 8 -6 -27 -9 -4 -11 
6 -10 -7 -8 1 -2 -17 4 0 -12 -22 6 -8 -3 -44 -3 
-27 -2 -55 5 -20 1 3497 3739 100 MP stroke
2 -5 -15 11 -9 0 -27 -6 -16 0 8 1 -14 10 -37 0 
-9 11 -21 -12 -38 7 -4 -7 -16 -6 -27 3 -14 -3 -16 0 
-23 -4 -24 -4 -25 1 -4 10 -6 -4 -31 8 -21 -1 -43 -5 
-19 -11 -40 11 -19 -3 -14 -14 -41 -4 -48 -4 -22 -5 -72 0 
6 8 -6 7 -18 -1 -47 11 -36 -13 -20 5 -20 0 -25 -18 
-34 -7 0 7 -9 -5 -22 -5 -17 8 -21 -6 -24 -3 -17 3 
-9 -1 -7 1 -42 -2 -14 15 -24 6 -31 -9 -20 -3 11 -10 
-26 2 -6 -3 -16 6 -17 4 -7 5 -17 12 -7 -6 -12 0 
-41 1 -9 2 4 6 -13 3 -17 14 -11 17 -2 13 2 19 
12 17 -15 2 -3 8 -19 10 6 9 -1 10 -6 10 -28 8 
-19 3 10 10 1 10 -8 25 -16 23 9 16 -18 12 -14 22 
-9 1 16 9 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 -6 15 2 6 21 0 19 18 
1 17 1 16 -1 22 -1 21 -15 14 11 16 1 13 -27 11 
18 8 5 5 20 0 -10 -5 14 2 7 3 5 16 -16 26 
1 9 -4 11 -22 11 -7 16 -4 -5 6 18 8 13 7 -6 
-1 -2 22 12 12 10 2 -3 -6 29 9 5 5 5 10 23 
-11 30 -18 2 -9 26 12 13 -1 6 -5 2 -6 24 3 4 
28 18 -18 14 5 16 4 23 7 10 -7 -4 -1 14 -2 21 
9 -15 -13 6 2 34 13 -7 -2 26 9 2 -1 37 -6 0 
-8 -11 -8 9 5 -1 -23 39 -8 22 -13 9 1 16 10 0 
-15 10 -4 -12 -4 19 -23 12 14 -4 3 13 22 2 0 21 
21 12 -11 4 8 -2 -23 48 -21 22 -15 1 -13 38 -6 3 
-3 -9 18 23 2 30 7 -6 3 -4 -11 -11 9 20 21 17 
-4 33 -1 15 -8 20 5096 2277 100 MP stroke
4 -3 -19 29 -9 33 -6 -12 1 9 17 -20 2 1 -14 16 
25 -26 15 11 17 0 -10 23 -3 18 12 -3 18 8 -2 13 
14 16 -16 41 0 22 38 -1 18 -6 -5 11 11 25 26 6 
11 13 52 -13 10 4 38 -34 21 8 34 -14 31 -30 14 -27 
29 9 20 -6 -49 75 -36 70 -25 51 -23 60 35 -13 76 -58 
46 1 52 -32 -79 92 -26 42 108 -81 81 -54 132 -89 -8 38 
61 -45 96 -79 -37 30 -11 26 -53 78 -114 108 110 -83 -54 61 
84 -47 34 -19 -25 21 6 15 39 -40 33 -19 193 -151 -72 80 
58 -35 -52 54 -105 97 151 -84 -2 15 -54 46 -22 26 58 -22 
72 -26 1 9 -19 21 -7 2 32 -5 37 -2 67 -30 51 10 
18 0 -5 35 131 -81 55 -48 -16 45 -39 49 18 5 5 7 
94 -30 12 13 63 -30 1 3 182 -86 -94 57 -144 97 -72 51 
-143 129 -58 -16 216 -199 3638 2041 100 MP stroke
13 -36 24 -11 -146 223 3747 1865 4 MP stroke
DD
/c9 { 1.000000 0.000000 0.000000 sr} bdef
c9
-2 -11 -1 -11 -1 -11 -1 -11 -2 -11 -1 -11 -1 -11 -1 -11 
-2 -11 -1 -11 -1 -12 -2 -11 -1 -11 -1 -11 -2 -11 -1 -11 
-2 -11 -1 -11 -1 -11 -2 -11 -1 -12 -1 -11 -2 -11 -1 -11 
-1 -11 -1 -11 -1 -10 -1 -11 -2 -11 -1 -11 -1 -11 -1 -11 
-1 -10 -1 -11 -1 -11 -1 -10 0 -11 -1 -10 -1 -11 -1 -10 
-1 -11 0 -10 -1 -10 -1 -11 0 -10 -1 -10 0 -10 -1 -10 
0 -10 -1 -10 0 -10 -1 -10 0 -20 -1 -9 0 -48 -1 -10 
0 -128 -1 -9 0 -35 -1 -9 0 -8 -1 -9 0 -8 -1 -9 
0 -8 -1 -9 -1 -8 -1 -9 -1 -8 -1 -8 -1 -9 -2 -8 
-1 -8 -2 -8 -2 -9 -3 -8 -2 -8 -3 -8 -3 -8 -4 -9 
-3 -8 -5 -8 -5 -8 -5 -8 -6 -8 -6 -9 -7 -8 -7 -8 
-8 -8 -8 -8 -9 -8 -9 -9 -10 -8 -11 -8 -10 -8 -12 -8 
-11 -8 -12 -8 -12 -7 2277 3497 100 MP stroke
-13 -8 -13 -8 -13 -7 -13 -7 -13 -8 -14 -7 -14 -7 -14 -7 
-14 -6 -14 -7 -14 -6 -15 -7 -15 -6 -15 -6 -14 -6 -15 -5 
-16 -6 -15 -5 -15 -5 -15 -5 -15 -5 -15 -5 -15 -4 -15 -4 
-15 -4 -15 -4 -16 -3 -15 -4 -15 -3 -15 -3 -15 -3 -16 -3 
-15 -3 -15 -2 -16 -3 -15 -2 -16 -2 -16 -3 -15 -2 -16 -2 
-16 -2 -16 -2 -16 -1 -16 -2 -16 -2 -16 -1 -16 -2 -16 -1 
-16 -2 -17 -1 -16 -1 -17 -1 -16 -2 -16 -1 -17 -1 -16 0 
-17 -1 -16 -1 -17 -1 -16 0 -17 -1 -17 0 -16 -1 -17 -1 
-17 0 -16 -1 -17 0 -17 -1 -17 0 -17 -1 -17 0 -17 -1 
-17 0 -17 -1 -18 0 -17 -1 -17 0 -18 0 -17 -1 -17 0 
-18 -1 -18 0 -17 0 -18 -1 -17 0 -18 0 -18 -1 -18 0 
-18 0 -17 0 -18 -1 -18 0 -19 0 -18 0 -18 0 -18 -1 
-18 0 -19 0 -18 0 3873 3730 100 MP stroke
-19 0 -18 -1 -19 0 -18 0 -19 0 -19 0 -19 0 -18 0 
-19 0 -19 0 -19 0 -19 0 -19 0 -19 0 -18 0 -19 0 
-19 1 -19 0 -18 0 -19 1 -18 1 -19 0 -18 1 -18 1 
-18 1 -18 1 -18 1 -17 2 -18 1 -17 2 -17 2 -17 2 
-17 2 -17 2 -16 2 -16 3 -16 3 -16 3 -15 3 -15 3 
-15 4 -15 3 -15 4 -14 4 -14 5 -13 4 -14 5 -13 5 
-13 5 -12 6 -12 5 -12 6 -12 7 -11 6 -11 7 -11 6 
-10 7 -11 8 -9 7 -10 8 -10 8 -9 8 -9 8 -8 8 
-8 9 -9 9 -7 9 -8 9 -8 9 -7 9 -7 10 -7 9 
-6 10 -7 10 -6 10 -6 10 -5 10 -6 10 -5 11 -5 10 
-5 10 -5 11 -5 11 -4 11 -4 10 -4 11 -4 11 -3 11 
-3 11 -3 11 -3 11 -3 12 -2 11 -3 11 -2 11 -2 12 
-2 11 -1 11 -2 11 5039 3186 100 MP stroke
-1 12 -1 11 -2 11 -1 11 0 11 -1 12 -1 11 -1 11 
0 22 -1 11 0 66 1 11 0 22 1 11 0 11 1 11 
1 10 0 11 1 11 1 11 0 11 1 10 1 11 1 11 
0 10 1 11 1 10 1 11 0 10 1 11 1 10 0 11 
1 10 1 10 0 10 1 10 0 21 1 10 0 19 1 10 
0 39 1 10 0 38 1 9 0 19 1 9 0 9 1 9 
0 9 1 10 1 9 1 9 1 9 1 9 1 9 2 8 
1 9 2 9 2 9 2 9 2 8 3 9 3 9 3 8 
3 9 3 8 4 9 3 8 4 8 5 9 4 8 5 8 
6 8 5 8 6 8 6 8 7 8 7 8 7 8 8 8 
8 7 8 8 9 8 9 7 9 8 10 7 11 8 10 7 
11 8 12 7 11 7 12 7 13 7 12 7 13 7 13 7 
13 7 14 7 13 7 4705 2108 100 MP stroke
14 6 14 7 15 6 14 6 15 7 14 6 15 6 15 6 
15 6 15 6 16 5 15 6 15 5 16 6 15 5 15 5 
15 5 15 5 16 5 15 4 14 5 15 4 15 5 15 4 
15 4 14 4 15 4 14 3 15 4 14 4 15 3 14 4 
14 3 15 3 14 4 14 3 14 3 15 3 14 3 14 3 
14 3 14 3 15 2 14 3 14 3 15 3 14 2 14 3 
14 3 14 2 15 3 14 2 14 3 14 2 14 3 14 2 
14 3 14 2 14 3 14 2 14 2 14 3 14 2 14 2 
13 3 14 2 3751 1856 67 MP stroke
/c10 { 0.000000 1.000000 0.000000 sr} bdef
c10
-2 -11 -1 -11 -1 -11 -2 -11 -1 -11 -1 -11 -1 -11 -1 -11 
-2 -11 -1 -11 -1 -12 -2 -11 -1 -11 -2 -11 -1 -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 -11 -1 -11 -1 -11 -2 -11 
-1 -10 -1 -11 -1 -11 0 -10 -1 -11 -1 -11 -1 -10 -1 -10 
0 -11 -1 -10 -1 -11 -1 -10 0 -10 -1 -10 0 -10 -1 -10 
0 -10 -1 -10 0 -10 -1 -10 0 -20 -1 -10 0 -48 -1 -9 
0 -110 -1 -9 0 -44 -1 -9 0 -8 -1 -9 0 -17 -1 -8 
-1 -9 0 -9 -1 -8 -1 -9 -1 -8 -1 -9 -2 -8 -1 -10 
0 -11 -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 -7 -11 -6 -10 -10 -10 -6 -11 -8 -11 -7 -12 -8 
-11 -10 -12 -8 -13 -5 2293 3487 100 MP stroke
-12 -8 -12 -8 -13 -7 -12 -9 -14 -5 -13 -7 -14 -7 -13 -7 
-14 -8 -14 -7 -11 -10 -19 -3 -15 -6 -13 -7 -14 -6 -14 -7 
-15 -4 -16 -5 -16 -5 -15 -5 -15 -5 -14 -7 -11 -7 -13 -6 
-12 -6 -13 -6 -16 -4 -12 -6 -8 -8 -16 -3 -16 -3 -20 0 
-18 -1 -13 -4 -16 -3 -16 -2 -17 -1 -15 -2 -14 -3 -16 -3 
-16 -1 -18 -1 -16 -1 -16 -1 -16 -2 -16 -1 -16 -2 -16 -1 
-16 -1 -17 0 -16 -1 -16 -1 -17 -1 -17 -1 -16 -1 -16 -1 
-15 -2 -14 -1 -19 0 -17 0 -15 -1 -17 0 -17 -1 -16 -1 
-17 0 -18 1 -18 -1 -17 0 -16 0 -18 -1 -17 0 -17 -1 
-17 0 -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 -1 -17 0 -19 0 
-18 0 -18 0 -18 -1 -18 0 -18 0 -18 0 -19 0 -18 -1 
-18 0 -19 0 -18 0 3872 3730 100 MP stroke
-19 0 -18 0 -19 -1 -18 0 -19 0 -19 0 -19 0 -18 0 
-19 0 -19 0 -19 0 -19 0 -19 0 -19 0 -20 0 -18 0 
-19 1 -19 0 -18 1 -18 0 -19 0 -19 1 -18 1 -18 1 
-18 1 -18 1 -18 1 -18 1 -17 2 -17 1 -18 2 -17 2 
-17 2 -16 2 -16 2 -16 3 -16 2 -16 3 -16 3 -15 4 
-16 3 -14 4 -15 4 -14 4 -14 4 -13 5 -14 4 -13 5 
-13 6 -12 5 -13 6 -11 6 -12 6 -11 6 -11 7 -10 7 
-11 7 -10 8 -10 7 -10 8 -9 8 -9 8 -8 8 -8 9 
-8 8 -8 9 -8 9 -8 9 -7 10 -8 9 -7 10 -7 9 
-7 10 -6 10 -6 10 -5 10 -6 10 -6 10 -6 11 -5 10 
-5 11 -5 11 -4 10 -5 11 -3 11 -4 11 -4 11 -3 11 
-3 11 -3 11 -3 11 -2 11 -3 11 -2 12 -2 11 -2 11 
-2 11 -2 12 -2 11 5038 3185 100 MP stroke
-1 11 -2 12 -1 11 -1 11 -1 11 -1 11 -1 11 0 12 
-1 11 0 11 -1 11 0 77 1 11 0 11 1 11 0 10 
1 11 0 11 1 11 1 11 0 10 1 11 1 11 0 10 
1 11 1 11 1 10 0 11 1 10 1 11 1 10 0 10 
1 11 1 10 0 10 1 10 0 11 1 10 0 20 1 10 
0 29 1 10 0 49 1 9 0 9 1 9 0 19 1 9 
0 9 1 9 0 19 1 10 1 9 1 9 2 8 1 9 
2 9 2 8 1 10 3 8 2 8 3 9 2 8 3 9 
3 9 3 9 3 8 3 10 4 8 5 8 5 8 4 9 
6 7 5 7 6 8 6 8 6 8 7 8 7 7 7 8 
8 7 8 8 9 8 10 6 10 7 9 8 11 7 10 7 
11 7 11 9 11 7 11 8 11 8 11 9 12 6 14 5 
12 9 13 6 14 5 4715 2119 100 MP stroke
14 7 14 7 14 6 14 6 14 7 13 8 13 8 16 4 
14 6 13 8 14 7 10 10 16 5 15 5 16 5 21 0 
17 4 15 5 16 4 15 5 16 5 14 4 16 4 15 5 
15 4 15 4 15 4 17 0 13 6 16 3 13 5 13 6 
17 0 14 4 13 5 14 3 18 -1 16 2 14 3 14 4 
11 8 15 1 17 1 15 2 16 0 14 3 14 3 18 1 
13 6 14 2 11 4 13 4 11 5 17 1 10 5 12 5 
6 9 16 2 -7 17 0 11 7 7 5 9 12 4 4 10 
17 -1 27 -9 20 -3 3795 1825 68 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

2531  294 mt 
(Filtering and smoothing result with UKF) 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 
(UKF 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 
(URTS 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 
(UTF 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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