measurement_noise.m

扩展卡尔曼滤波算法是滤波领域较为重要的方法之一。本滤波算法是典型的卡尔曼滤波应用问题。

 function xywpose_noisymeasure = measurement_noise(xywpose)

% real position xywpose ! not take as input the estimated position
% xywpose(1):y
% xywpose(2):x
% xywpose(3):w
%measure_var       = [0.1;0.1;0.1];
global measure_var 
xywpose_noisymeasure(1)     = xywpose(1)+sqrt(measure_var(1))*randn(1);
xywpose_noisymeasure(2)     = xywpose(2)+sqrt(measure_var(1))*randn(1);
xywpose_noisymeasure(3)     = xywpose(3)+sqrt(measure_var(1))*randn(1);