kalmanindoor.m

This code is used to calculate the position of user indoor (using KALMAN).

%Tracking Indoor-GPS 3D using Kalman
%Creator: Kam Kim Long
%//////////////////////////////////////////////////////////////////////////
%cac vecto dac trung cua he thong
%vecto trang thai x = [X Y Z VX VY VZ]'  {xet chuyen dong thang deu trong khong gian }
%vecto nhieu tien trinh w = [ax ay az]' co phan bo Gauss
%vecto quan sat   z = [LP1 LP2 LP3 LP4 dLP1 dLP2 dLP3 dLP4]'
%vecto nhieu do luong   v = [X1 X2 X3 X4 X5 X6 X7 X8]' co phan bo Gauss 
%//////////////////////////////////////////////////////////////////////////
% ch