test2.m

particle filter 粒子滤波器 matlab工具箱

% Just a testscript

% Toolbox for nonlinear filtering.
% Copyright (C) 2005  Jakob Ros閚 <[e-mail]>
%
% This program is free software; you can redistribute it and/or
% modify it under the terms of the GNU General Public License
% as published by the Free Software Foundation; either version 2
% of the License, or (at your option) any later version.
%
% This program is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with this program; if not, write to the Free Software
% Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.

T=1;
f='cos(x1.^2)+sin(x1)+x1';
h={'cos(x1)','sin(x1)'};

model=danl(f, 1, [], h, [], 0, 1, [0.0025 0.002], 1);

disp('Initializing filter objects');
simobj=simulator(model);
sirobj=sir(model);
ekfobj=ekf(model);

disp('Calculating...');
graph(simobj,{ekfobj,sirobj},100);

%SIR is very good! EKF is sometimes really bad!