ekflocationinnov.eps

Mobile Robots 非线性跟踪

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%%Creator: MATLAB, The Mathworks, Inc. Version 7.4.0.287 (R2007a). Operating System: Microsoft Windows XP.
%%Title: .\EKFLocationInnov.eps
%%CreationDate: 07/12/2007  21:51:21
%%DocumentNeededFonts: Helvetica
%%DocumentProcessColors: Cyan Magenta Yellow Black
%%Extensions: CMYK
%%Pages: 1
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%%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

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0 cap

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%%BeginObject: obj1
bplot

/dpi2point 12 def
portraitMode 0204 7344 csm

  443   110  5994  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 1768 5356 0 0 -1768 899 2157 4 MP
PP
-5356 0 0 1768 5356 0 0 -1768 899 2157 5 MP stroke
4 w
DO
SO
6 w
0 sg
 899  389 mt 6255  389 L
 899 2157 mt 6255 2157 L
6255 2157 mt 6255  389 L
 899 2157 mt  899  389 L
 899 2157 mt 6255 2157 L
 899 2157 mt  899  389 L
 899 2157 mt  899 2103 L
 899  389 mt  899  442 L
%%IncludeResource: font Helvetica
/Helvetica /WindowsLatin1Encoding 120 FMSR

 866 2302 mt 
(0) s
1791 2157 mt 1791 2103 L
1791  389 mt 1791  442 L
1658 2302 mt 
(1000) s
2684 2157 mt 2684 2103 L
2684  389 mt 2684  442 L
2551 2302 mt 
(2000) s
3577 2157 mt 3577 2103 L
3577  389 mt 3577  442 L
3444 2302 mt 
(3000) s
4469 2157 mt 4469 2103 L
4469  389 mt 4469  442 L
4336 2302 mt 
(4000) s
5362 2157 mt 5362 2103 L
5362  389 mt 5362  442 L
5229 2302 mt 
(5000) s
6255 2157 mt 6255 2103 L
6255  389 mt 6255  442 L
6122 2302 mt 
(6000) s
 899 2157 mt  952 2157 L
6255 2157 mt 6201 2157 L
 661 2201 mt 
(-10) s
 899 1803 mt  952 1803 L
6255 1803 mt 6201 1803 L
 728 1847 mt 
(-5) s
 899 1449 mt  952 1449 L
6255 1449 mt 6201 1449 L
 798 1493 mt 
(0) s
 899 1096 mt  952 1096 L
6255 1096 mt 6201 1096 L
 798 1140 mt 
(5) s
 899  742 mt  952  742 L
6255  742 mt 6201  742 L
 731  786 mt 
(10) s
 899  389 mt  952  389 L
6255  389 mt 6201  389 L
 731  433 mt 
(15) s
 899  389 mt 6255  389 L
 899 2157 mt 6255 2157 L
6255 2157 mt 6255  389 L
 899 2157 mt  899  389 L
gs 899 389 5357 1769 MR c np
/c8 { 0.000000 0.000000 1.000000 sr} bdef
c8
1 -291 1 367 1 -93 1 66 1 -140 0 -118 1 91 1 67 
1 -109 1 70 1 -251 1 289 1 60 1 -227 0 -46 1 39 
1 11 1 62 1 -58 1 194 1 -64 1 -142 1 19 1 21 
0 -128 1 310 1 -142 1 122 1 -86 1 -55 1 109 1 1 
1 -60 0 33 1 -103 1 -251 1 279 1 108 1 66 1 72 
1 -187 1 218 0 -83 1 -157 1 -73 1 2 1 181 1 -92 
1 -27 1 84 1 -161 1 66 0 71 1 48 1 14 1 -175 
1 87 1 -118 1 393 1 -329 1 -192 0 218 1 -210 1 495 
1 -125 1 -227 1 43 1 -44 1 -54 1 9 0 63 1 81 
1 -9 1 -30 1 30 1 128 1 -279 1 330 1 -211 1 -65 
0 47 1 316 1 -351 1 85 1 219 1 -127 1 -63 1 192 
1 -184 0 -24 1 -82 1 -47 1 -169 1 368 1 -106 1 44 
1 68 1 -388 0 360 2953 1368 100 MP stroke
1 -248 1 139 1 32 1 58 1 -97 1 -13 1 207 1 -357 
1 220 0 -23 1 86 1 -68 1 -91 1 33 1 91 1 -244 
1 366 1 -126 0 230 1 -472 1 178 1 92 1 -93 1 -227 
1 240 1 -20 1 -116 0 173 1 81 1 -72 1 -269 1 393 
1 -379 1 213 1 49 1 -15 1 -71 0 -250 1 218 1 -22 
1 -148 1 138 1 168 1 -36 1 -318 1 130 0 329 1 -435 
1 100 1 187 1 -213 1 35 1 153 1 62 1 -110 0 -162 
1 124 1 -132 1 120 1 -234 1 332 1 -188 1 104 1 -66 
0 97 1 -72 1 231 1 -225 1 326 1 -480 1 278 1 -204 
1 -325 1 556 0 30 1 0 1 -26 1 -114 1 -93 1 -60 
1 142 1 232 1 -294 0 210 1 -229 1 205 1 -101 1 -142 
1 306 1 -109 1 -113 1 -25 0 144 1 -4 1 41 1 -73 
1 321 1 -307 1 297 2864 1182 100 MP stroke
1 -170 1 -180 1 63 0 -176 1 67 1 -133 1 403 1 -25 
1 -120 1 -124 1 185 1 -104 0 117 1 25 1 -146 1 59 
1 178 1 -335 1 232 1 -548 1 362 0 10 1 117 1 -6 
1 -184 1 144 1 164 1 38 1 -341 1 -234 1 394 0 230 
1 -304 1 17 1 35 1 -59 1 128 1 -61 1 117 1 -109 
0 -81 1 168 1 -61 1 11 1 -27 1 50 1 134 1 158 
1 -457 0 -23 1 508 1 -194 1 -20 1 -178 1 -134 1 207 
1 254 1 -206 1 -192 0 289 1 -9 1 -117 1 -18 1 -159 
1 226 1 -180 1 187 1 -109 0 31 1 -221 1 7 1 45 
1 232 1 -212 1 108 1 -252 1 405 0 21 1 -181 1 245 
1 -140 1 -110 1 248 1 -338 1 108 1 102 1 -393 0 265 
1 -165 1 117 1 348 1 -37 1 -303 1 186 1 -146 1 282 
0 -108 1 -196 1 155 2776 1326 100 MP stroke
1 -141 1 27 1 193 1 -214 1 67 1 -10 0 -300 1 345 
1 -282 1 203 1 148 1 -176 1 198 1 -124 1 -51 1 -15 
0 102 1 143 1 -333 1 209 1 -106 1 -248 1 192 1 139 
1 -121 0 -111 1 17 1 185 1 29 1 -86 1 71 1 65 
1 -94 1 117 0 -86 1 -161 1 -85 1 193 1 123 1 -153 
1 -99 1 312 1 91 0 -343 1 94 1 -34 1 -41 1 -49 
1 93 1 -138 1 86 1 43 1 -61 0 -295 1 327 1 -2 
1 9 1 -29 1 343 1 24 1 -341 1 176 0 -369 1 141 
1 12 1 -58 1 255 1 -188 1 -19 1 39 1 56 0 -63 
1 109 1 -39 1 25 1 -170 1 -54 1 4 1 235 1 116 
1 58 0 -181 1 -252 1 160 1 199 1 -394 1 224 1 28 
1 -261 1 397 0 -286 1 257 1 185 1 -387 1 229 1 -145 
1 65 1 -43 1 33 2687 1373 100 MP stroke
0 321 1 -418 1 307 1 -193 1 -201 1 12 1 51 1 -9 
1 -45 1 131 0 -338 1 258 1 -120 1 216 1 95 1 -175 
1 291 1 52 1 -309 0 -116 1 137 1 -281 1 292 1 -106 
1 380 1 -21 1 -290 1 290 0 -308 1 -173 1 407 1 -327 
1 -87 1 57 1 -52 1 97 1 240 1 -55 1 5 1 -26 
1 30 1 -78 1 29 1 -69 1 174 1 37 0 127 1 -312