ekflocationerr.eps

Mobile Robots 非线性跟踪

%!PS-Adobe-2.0 EPSF-1.2
%%Creator: MATLAB, The Mathworks, Inc. Version 7.4.0.287 (R2007a). Operating System: Microsoft Windows XP.
%%Title: .\EKFLocationErr.eps
%%CreationDate: 07/12/2007  21:51:21
%%DocumentNeededFonts: Helvetica
%%DocumentProcessColors: Cyan Magenta Yellow Black
%%Extensions: CMYK
%%Pages: 1
%%BoundingBox:    46   199   553   602
%%EndComments

%%BeginProlog
% MathWorks dictionary
/MathWorks 160 dict begin
% definition operators
/bdef {bind def} bind def
/ldef {load def} bind def
/xdef {exch def} bdef
/xstore {exch store} bdef
% operator abbreviations
/c  /clip ldef
/cc /concat ldef
/cp /closepath ldef
/gr /grestore ldef
/gs /gsave ldef
/mt /moveto ldef
/np /newpath ldef
/cm /currentmatrix ldef
/sm /setmatrix ldef
/rm /rmoveto ldef
/rl /rlineto ldef
/s {show newpath} bdef
/sc {setcmykcolor} bdef
/sr /setrgbcolor ldef
/sg /setgray ldef
/w /setlinewidth ldef
/j /setlinejoin ldef
/cap /setlinecap ldef
/rc {rectclip} bdef
/rf {rectfill} bdef
% page state control
/pgsv () def
/bpage {/pgsv save def} bdef
/epage {pgsv restore} bdef
/bplot /gsave ldef
/eplot {stroke grestore} bdef
% orientation switch
/portraitMode 0 def /landscapeMode 1 def /rotateMode 2 def
% coordinate system mappings
/dpi2point 0 def
% font control
/FontSize 0 def
/FMS {/FontSize xstore findfont [FontSize 0 0 FontSize neg 0 0]
  makefont setfont} bdef
/ISOLatin1Encoding where {pop /WindowsLatin1Encoding 256 array bdef
ISOLatin1Encoding WindowsLatin1Encoding copy pop
/.notdef/.notdef/quotesinglbase/florin/quotedblbase/ellipsis/dagger
/daggerdbl/circumflex/perthousand/Scaron/guilsinglleft/OE/.notdef/.notdef
/.notdef/.notdef/quoteleft/quoteright/quotedblleft/quotedblright/bullet
/endash/emdash/tilde/trademark/scaron/guilsinglright/oe/.notdef/.notdef
/Ydieresis WindowsLatin1Encoding 128 32 getinterval astore pop}
{/WindowsLatin1Encoding StandardEncoding bdef} ifelse
/reencode {exch dup where {pop load} {pop StandardEncoding} ifelse
  exch dup 3 1 roll findfont dup length dict begin
  { 1 index /FID ne {def}{pop pop} ifelse } forall
  /Encoding exch def currentdict end definefont pop} bdef
/isroman {findfont /CharStrings get /Agrave known} bdef
/FMSR {3 1 roll 1 index dup isroman {reencode} {pop pop} ifelse
  exch FMS} bdef
/csm {1 dpi2point div -1 dpi2point div scale neg translate
 dup landscapeMode eq {pop -90 rotate}
  {rotateMode eq {90 rotate} if} ifelse} bdef
% line types: solid, dotted, dashed, dotdash
/SO { [] 0 setdash } bdef
/DO { [.5 dpi2point mul 4 dpi2point mul] 0 setdash } bdef
/DA { [6 dpi2point mul] 0 setdash } bdef
/DD { [.5 dpi2point mul 4 dpi2point mul 6 dpi2point mul 4
  dpi2point mul] 0 setdash } bdef
% macros for lines and objects
/L {lineto stroke} bdef
/MP {3 1 roll moveto 1 sub {rlineto} repeat} bdef
/AP {{rlineto} repeat} bdef
/PDlw -1 def
/W {/PDlw currentlinewidth def setlinewidth} def
/PP {closepath eofill} bdef
/DP {closepath stroke} bdef
/MR {4 -2 roll moveto dup  0 exch rlineto exch 0 rlineto
  neg 0 exch rlineto closepath} bdef
/FR {MR stroke} bdef
/PR {MR fill} bdef
/L1i {{currentfile picstr readhexstring pop} image} bdef
/tMatrix matrix def
/MakeOval {newpath tMatrix currentmatrix pop translate scale
0 0 1 0 360 arc tMatrix setmatrix} bdef
/FO {MakeOval stroke} bdef
/PO {MakeOval fill} bdef
/PD {currentlinewidth 2 div 0 360 arc fill
   PDlw -1 eq not {PDlw w /PDlw -1 def} if} def
/FA {newpath tMatrix currentmatrix pop translate scale
  0 0 1 5 -2 roll arc tMatrix setmatrix stroke} bdef
/PA {newpath tMatrix currentmatrix pop	translate 0 0 moveto scale
  0 0 1 5 -2 roll arc closepath tMatrix setmatrix fill} bdef
/FAn {newpath tMatrix currentmatrix pop translate scale
  0 0 1 5 -2 roll arcn tMatrix setmatrix stroke} bdef
/PAn {newpath tMatrix currentmatrix pop translate 0 0 moveto scale
  0 0 1 5 -2 roll arcn closepath tMatrix setmatrix fill} bdef
/vradius 0 def /hradius 0 def /lry 0 def
/lrx 0 def /uly 0 def /ulx 0 def /rad 0 def
/MRR {/vradius xdef /hradius xdef /lry xdef /lrx xdef /uly xdef
  /ulx xdef newpath tMatrix currentmatrix pop ulx hradius add uly
  vradius add translate hradius vradius scale 0 0 1 180 270 arc 
  tMatrix setmatrix lrx hradius sub uly vradius add translate
  hradius vradius scale 0 0 1 270 360 arc tMatrix setmatrix
  lrx hradius sub lry vradius sub translate hradius vradius scale
  0 0 1 0 90 arc tMatrix setmatrix ulx hradius add lry vradius sub
  translate hradius vradius scale 0 0 1 90 180 arc tMatrix setmatrix
  closepath} bdef
/FRR {MRR stroke } bdef
/PRR {MRR fill } bdef
/MlrRR {/lry xdef /lrx xdef /uly xdef /ulx xdef /rad lry uly sub 2 div def
  newpath tMatrix currentmatrix pop ulx rad add uly rad add translate
  rad rad scale 0 0 1 90 270 arc tMatrix setmatrix lrx rad sub lry rad
  sub translate rad rad scale 0 0 1 270 90 arc tMatrix setmatrix
  closepath} bdef
/FlrRR {MlrRR stroke } bdef
/PlrRR {MlrRR fill } bdef
/MtbRR {/lry xdef /lrx xdef /uly xdef /ulx xdef /rad lrx ulx sub 2 div def
  newpath tMatrix currentmatrix pop ulx rad add uly rad add translate
  rad rad scale 0 0 1 180 360 arc tMatrix setmatrix lrx rad sub lry rad
  sub translate rad rad scale 0 0 1 0 180 arc tMatrix setmatrix
  closepath} bdef
/FtbRR {MtbRR stroke } bdef
/PtbRR {MtbRR fill } bdef
/stri 6 array def /dtri 6 array def
/smat 6 array def /dmat 6 array def
/tmat1 6 array def /tmat2 6 array def /dif 3 array def
/asub {/ind2 exch def /ind1 exch def dup dup
  ind1 get exch ind2 get sub exch } bdef
/tri_to_matrix {
  2 0 asub 3 1 asub 4 0 asub 5 1 asub
  dup 0 get exch 1 get 7 -1 roll astore } bdef
/compute_transform {
  dmat dtri tri_to_matrix tmat1 invertmatrix 
  smat stri tri_to_matrix tmat2 concatmatrix } bdef
/ds {stri astore pop} bdef
/dt {dtri astore pop} bdef
/db {2 copy /cols xdef /rows xdef mul dup 3 mul string
  currentfile exch readhexstring pop
  dup 0 3 index getinterval /rbmap xdef
  dup 2 index dup getinterval /gbmap xdef
  1 index dup 2 mul exch getinterval /bbmap xdef pop pop}bdef
/it {gs np dtri aload pop moveto lineto lineto cp c
  cols rows 8 compute_transform 
  rbmap gbmap bbmap true 3 colorimage gr}bdef
/il {newpath moveto lineto stroke}bdef
currentdict end def
%%EndProlog

%%BeginSetup
MathWorks begin

0 cap

end
%%EndSetup

%%Page: 1 1
%%BeginPageSetup
%%PageBoundingBox:    46   199   553   602
MathWorks begin
bpage
%%EndPageSetup

%%BeginObject: obj1
bplot

/dpi2point 12 def
portraitMode 0204 7344 csm

  358   110  6079  4844 MR c np
85 dict begin %Colortable dictionary
/c0 { 0.000000 0.000000 0.000000 sr} bdef
/c1 { 1.000000 1.000000 1.000000 sr} bdef
/c2 { 0.900000 0.000000 0.000000 sr} bdef
/c3 { 0.000000 0.820000 0.000000 sr} bdef
/c4 { 0.000000 0.000000 0.800000 sr} bdef
/c5 { 0.910000 0.820000 0.320000 sr} bdef
/c6 { 1.000000 0.260000 0.820000 sr} bdef
/c7 { 0.000000 0.820000 0.820000 sr} bdef
c0
1 j
1 sg
   0    0 6913 5185 PR
6 w
0 1118 5356 0 0 -1118 899 1507 4 MP
PP
-5356 0 0 1118 5356 0 0 -1118 899 1507 5 MP stroke
4 w
DO
SO
6 w
0 sg
 899  389 mt 6255  389 L
 899 1507 mt 6255 1507 L
6255 1507 mt 6255  389 L
 899 1507 mt  899  389 L
 899 1507 mt 6255 1507 L
 899 1507 mt  899  389 L
 899 1507 mt  899 1453 L
 899  389 mt  899  442 L
%%IncludeResource: font Helvetica
/Helvetica /WindowsLatin1Encoding 120 FMSR

 866 1652 mt 
(0) s
1791 1507 mt 1791 1453 L
1791  389 mt 1791  442 L
1658 1652 mt 
(1000) s
2684 1507 mt 2684 1453 L
2684  389 mt 2684  442 L
2551 1652 mt 
(2000) s
3577 1507 mt 3577 1453 L
3577  389 mt 3577  442 L
3444 1652 mt 
(3000) s
4469 1507 mt 4469 1453 L
4469  389 mt 4469  442 L
4336 1652 mt 
(4000) s
5362 1507 mt 5362 1453 L
5362  389 mt 5362  442 L
5229 1652 mt 
(5000) s
6255 1507 mt 6255 1453 L
6255  389 mt 6255  442 L
6122 1652 mt 
(6000) s
 899 1507 mt  952 1507 L
6255 1507 mt 6201 1507 L
 661 1551 mt 
(-20) s
 899 1227 mt  952 1227 L
6255 1227 mt 6201 1227 L
 661 1271 mt 
(-10) s
 899  948 mt  952  948 L
6255  948 mt 6201  948 L
 798  992 mt 
(0) s
 899  668 mt  952  668 L
6255  668 mt 6201  668 L
 731  712 mt 
(10) s
 899  389 mt  952  389 L
6255  389 mt 6201  389 L
 731  433 mt 
(20) s
 899  389 mt 6255  389 L
 899 1507 mt 6255 1507 L
6255 1507 mt 6255  389 L
 899 1507 mt  899  389 L
gs 899 389 5357 1119 MR c np
/c8 { 0.000000 0.000000 1.000000 sr} bdef
c8
1 0 1 0 1 0 1 0 1 0 1 1 1 0 1 0 
1 0 1 0 1 0 1 -1 1 1 1 0 1 0 1 0 
1 0 -1 0 2 0 1 0 1 0 1 0 1 1 1 0 
1 0 1 0 1 1 1 0 1 -1 1 -1 1 0 1 0 
1 1 1 0 1 -1 1 1 1 -1 1 1 1 0 1 0 
1 0 1 0 1 0 -1 0 2 0 1 0 1 0 1 0 
1 0 1 0 1 0 1 0 1 1 1 -1 1 0 1 0 
1 1 1 0 1 0 1 0 1 1 0 -1 1 -1 1 1 
1 -1 1 1 1 0 1 0 1 0 1 0 1 0 1 0 
1 0 1 0 1 0 1 0 1 -2 1 1 1 0 1 0 
1 0 1 0 1 0 1 0 1 1 1 0 1 1 0 -1 
1 1 1 0 1 0 1 -1 1 0 1 0 1 0 1 0 
-1 0 2 -2 1 0 6161 948 100 MP stroke
1 0 1 0 1 0 1 0 1 1 1 0 1 0 1 0 
1 0 1 0 1 -1 1 1 1 0 1 0 1 0 1 1 
1 -1 1 0 1 0 1 0 1 -1 1 0 1 0 1 0 
1 0 1 -1 1 0 1 0 1 0 1 0 1 0 1 0 
1 0 1 1 1 -1 1 0 1 0 1 0 1 0 1 0 
1 -1 1 1 1 0 1 0 1 0 1 0 1 0 1 0 
1 0 1 0 1 0 1 -1 1 1 1 0 1 0 1 0 
1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
1 0 1 1 1 0 1 0 1 0 1 0 1 0 1 0 
1 0 1 0 1 -1 1 0 1 0 1 -1 1 0 1 0 
1 0 1 -1 1 2 1 0 1 1 1 0 1 0 1 0 
1 0 1 1 1 -1 1 1 1 0 1 0 1 0 1 1 
1 0 1 -1 1 1 6062 946 100 MP stroke
1 0 1 0 1 0 1 0 1 -1 1 0 1 -1 1 1 
1 0 1 0 1 0 1 0 1 0 1 1 1 0 1 0 
1 0 1 1 1 0 1 0 1 0 1 0 1 0 1 0 
1 1 1 1 1 0 1 1 1 -1 1 0 1 1 1 0 
1 0 1 -1 1 0 1 1 1 -1 1 0 1 -1 1 0 
-1 0 2 0 1 0 1 0 1 0 1 0 1 0 1 0 
1 0 1 0 1 -1 1 1 1 -1 1 1 1 0 1 0 
1 0 1 1 0 1 1 -1 1 0 1 0 1 0 1 0 
1 -1 1 1 1 -1 1 0 1 -1 1 0 1 0 1 1 
1 0 1 -1 1 0 1 0 1 0 1 0 1 1 1 1 
1 0 1 0 1 -1 1 0 1 1 1 0 1 0 1 0 
1 -2 1 0 1 0 1 1 1 0 1 0 1 0 1 0 
1 0 1 -1 1 0 5965 945 100 MP stroke
1 1 1 -1 1 0 1 0 1 1 1 -1 1 0 1 0 
1 0 1 2 1 0 1 0 1 0 1 0 1 0 1 0 
1 -1 1 0 1 0 1 -1 1 0 1 0 1 0 1 0 
1 0 1 -1 1 0 1 1 1 0 1 0 1 0 1 1 
1 0 1 0 1 0 1 1 1 -1 1 1 1 0 1 0 
1 1 1 -1 1 0 1 -1 1 0 1 0 1 0 1 0 
1 0 1 -1 1 0 -1 0 2 0 1 1 1 0 1 0 
1 1 1 -1 1 0 1 1 1 0 -1 0 2 0 1 -1 
1 0 1 0 1 0 1 -1 1 0 1 0 1 0 1 0 
1 -1 1 0 1 0 1 0 1 0 1 0 1 0 1 1 
1 0 1 -1 1 0 1 0 1 0 1 0 1 0 -1 0 
2 2 1 0 1 0 1 -1 1 0 1 1 1 -1 1 0 
1 0 1 0 1 0 5869 945 100 MP stroke
1 0 1 1 1 -1 1 0 1 0 1 -1 1 0 1 -1 
1 0 1 -1 1 0 1 0 1 0 1 -1 1 0 1 0 
1 1 1 -1 1 -1 1 0 1 0 1 0 -1 0 2 0 
1 0 1 1 1 -1 1 0 1 0 1 0 1 1 1 0 
1 -1 1 0 1 0 1 -1 1 1 1 0 1 0 1 0 
1 0 1 0 1 -1 1 0 1 0 1 1 1 0 1 -2 
1 0 1 0 1 0 1 -1 1 0 1 1 1 0 1 0 
1 1 1 -1 1 1 1 0 1 0 1 0 1 0 1 -1 
1 -1 1 0 1 0 1 1 1 0 1 0 1 0 1 0 
1 0 1 -1 1 0 1 0 1 0 1 0 1 -1 1 0 
1 0 1 0 1 0 1 -1 1 0 1 0 1 0 1 0 
1 0 1 0 1 0 1 0 1 0 1 0 1 -1 1 1 
1 0 1 0 -1 0 5773 955 100 MP stroke
2 0 1 1 1 -1 1 -1 1 1 1 0 1 1 1 -1 
1 1 1 0 1 -1 1 0 1 0 1 1 1 0 1 0 
1 0 1 0 1 1 1 0 1 0 1 1 1 -1 1 1 
1 0 1 -1 1 0 1 0 1 0 1 0 1 0 1 1 
1 -1 0 1 1 -1 1 0 1 0 1 1 1 0 1 -1 
1 1 1 0 1 0 1 1 1 -1 1 1 1 0 1 0 
1 0 1 0 1 0 -1 0 2 0 1 1 1 -1 1 0 
1 0 1 0 1 1 1 0 1 0 1 -1 1 1 1 0 
1 0 1 2 1 0 1 0 1 -1 1 -1 1 0 1 0 
1 2 1 0 1 0 1 0 1 0 1 1 1 0 1 1 
1 -1 1 1 1 0 1 0 1 -1 1 0 1 1 1 -1 
1 1 1 1 1 0 1 0 1 -1 1 1 1 -1 1 -1 
1 1 1 0 1 0 5675 946 100 MP stroke
1 0 1 0 1 0 -1 0 2 0 1 0 1 -1 1 0 
1 0 1 0 1 0 1 0 1 2 1 0 1 0 1 0 
1 0 1 -1 1 0 1 0 1 0 1 0 1 0 1 1 
1 0 1 0 1 0 1 0 1 0 1 1 1 -1 1 0 
1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
1 0 1 0 1 0 1 0 1 0 1 -1 1 0 1 0 
1 0 1 0 1 -1 1 0 1 -1 1 0 1 -1 1 0 
1 0 1 0 1 0 1 0 1 0 1 0 1 -1 1 0 
1 0 1 0 1 0 1 0 1 0 1 0 -1 0 2 0 
1 1 1 -1 1 1 1 0 1 1 1 0 1 0 1 1 
1 0 1 0 1 0 1 0 1 0 1 -1 1 0 1 -1 
1 0 1 0 1 1 1 -1 1 0 1 0 1 0 1 0 
1 0 1 0 1 0 5578 949 100 MP stroke
1 1 1 0 1 0 1 0 1 1 1 0 1 1 1 0 
1 -1 1 0 1 1 1 0 1 0 1 1 1 0 1 -1 
1 0 1 0 1 0 1 1 1 -1 1 0 1 -1 1 0 
1 -1 1 0 1 0 1 0 1 0 1 1 1 -1 1 1 
1 -1 1 0 1 0 1 0 1 0 1 0 1 -1 1 1 
1 -1 1 0 1 0 1 0 1 1 1 0 1 0 1 0 
1 0 1 0 1 -1 1 1 1 0 1 0 1 1 1 -1 
1 0 1 -1 1 1 1 1 1 0 1 0 1 0 1 0 
1 0 1 0 1 0 1 1 1 0 1 0 1 1 1 0 
1 -1 1 0 1 0 1 0 1 1 1 -1 1 0 1 0 
1 0 1 0 1 0 1 0 1 -1 1 0 1 0 1 0 
1 0 1 0 1 0 1 0 1 -1 1 1 1 -1 1 1 
1 0 1 0 1 0 5479 947 100 MP stroke
1 -1 1 1 1 -1 1 1 1 0 1 1 1 -1 1 0 
1 0 1 0 1 0 1 0 1 1 1 1 1 0 1 -1 
1 0 1 0 1 1 1 0 1 0 1 0 1 0 1 0 
1 0 1 0 1 0 1 -1 1 0 1 1 1 0 1 0 
1 0 1 0 1 0 1 0 1 0 1 1 1 0 1 0 
1 1 1 0 1 1 1 0 1 -1 1 1 1 0 1 0 
1 -1 1 0 1 -1 1 -1 1 0 1 1 1 -1 1 1 
1 0 1 0 1 1 1 -1 1 0 1 0 1 1 1 0 
1 0 1 0 1 -1 1 1 1 -1 1 0 1 0 1 0 
1 0 1 -1 1 1 1 0 1 0 1 0 1 -1 1 0