kalmanbucy.mdl

学习扩展卡尔曼滤波气的基本文件

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	  SrcBlock		  "A'"
	  SrcPort		  1
	  Points		  [-40, 0]
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	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Q"
	  SrcPort		  1
	  DstBlock		  "Sum3"
	  DstPort		  1
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	Line {
	  SrcBlock		  "Sum3"
	  SrcPort		  1
	  DstBlock		  "Sum2"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "y1"
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	  Points		  [35, 0]
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	  Points		  [50, 0]
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	Annotation {
	  Name			  "K"
	  Position		  [469, 293]
	}
	Annotation {
	  Name			  "P"
	  Position		  [376, 295]
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "Random System"
      Ports		      [1, 2]
      Position		      [150, 49, 245, 116]
      TreatAsAtomicUnit	      off
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      MaskPromptString	      "x0|A|B|C|D|Q|R"
      MaskStyleString	      "edit,edit,edit,edit,edit,edit,edit"
      MaskTunableValueString  "on,on,on,on,on,on,on"
      MaskCallbackString      "||||||"
      MaskEnableString	      "on,on,on,on,on,on,on"
      MaskVisibilityString    "on,on,on,on,on,on,on"
      MaskToolTipString	      "on,on,on,on,on,on,on"
      MaskVarAliasString      ",,,,,,"
      MaskVariables	      "x0=@1;A=@2;B=@3;C=@4;D=@5;Q=@6;R=@7;"
      MaskDisplay	      "port_label('input',1,'u')\nport_label('output',"
"1,'x')\nport_label('output',2,'y')\ndisp(sprintf('Gassian\\n Process'))"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "x0|A|B|C|D|sqrtm(Q)|sqrtm(R)"
      MaskTabNameString	      ",,,,,,"
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	Name			"Random System"
	Location		[1030, 335, 1460, 647]
	Open			off
	ModelBrowserVisibility	on
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "u"
	  Position		  [25, 83, 55, 97]
	  Port			  "1"
	  IconDisplay		  "Port number"
	  PortDimensions	  "size(B,2)"
	  LatchInput		  off
	}
	Block {
	  BlockType		  Gain
	  Name			  "A"
	  Position		  [250, 120, 280, 150]
	  Orientation		  "left"
	  Gain			  "A"
	  Multiplication	  "Matrix(K*u)"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Gain
	  Name			  "B"
	  Position		  [125, 75, 155, 105]
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	  Multiplication	  "Matrix(K*u)"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
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	Block {
	  BlockType		  Gain
	  Name			  "C"
	  Position		  [250, 160, 280, 190]
	  Orientation		  "left"
	  Gain			  "C"
	  Multiplication	  "Matrix(K*u)"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Gain
	  Name			  "D"
	  Position		  [130, 215, 160, 245]
	  Gain			  "D"
	  Multiplication	  "Matrix(K*u)"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator"
	  Ports			  [1, 1]
	  Position		  [285, 75, 315, 105]
	  InitialCondition	  "x0"
	  IgnoreLimit		  off
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	Block {
	  BlockType		  Gain
	  Name			  "Q"
	  Position		  [125, 25, 155, 55]
	  Gain			  "Q"
	  Multiplication	  "Matrix(K*u)"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Gain
	  Name			  "R"
	  Position		  [130, 255, 160, 285]
	  Gain			  "R"
	  Multiplication	  "Matrix(K*u)"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
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	Block {
	  BlockType		  Sum
	  Name			  "Sum"
	  Ports			  [3, 1]
	  Position		  [205, 80, 225, 100]
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "+++"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum1"
	  Ports			  [3, 1]
	  Position		  [205, 220, 225, 240]
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "+++"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  RandomNumber
	  Name			  "v"
	  Position		  [45, 255, 75, 285]
	  Mean			  "zeros(size(R,1),1)"
	  Variance		  "ones(size(R,1),1)"
	  SampleTime		  "0"
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	Block {
	  BlockType		  RandomNumber
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	  Position		  [40, 25, 70, 55]
	  Mean			  "zeros(numel(x0),1)"
	  Variance		  "ones(numel(x0),1)"
	  SampleTime		  "0"
	}
	Block {
	  BlockType		  Outport
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	  Position		  [375, 28, 405, 42]
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
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	Block {
	  BlockType		  Outport
	  Name			  "y"
	  Position		  [330, 223, 360, 237]
	  Port			  "2"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
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	  SrcPort		  1
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	}
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	  Points		  [25, 0]
	  Branch {
	    Points		    [20, 0; 0, 45]
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	    Branch {
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	  Branch {
	    Points		    [0, -55]
	    DstBlock		    "x"
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	  Points		  [-30, 0]
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	  DstPort		  3
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	  DstBlock		  "Sum"
	  DstPort		  2
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	Line {
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	  Points		  [25, 0]
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	  Branch {
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	  DstPort		  1
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	Line {
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	  SrcPort		  1
	  Points		  [55, 0]
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	  DstPort		  1
	}
	Line {
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	  SrcPort		  1
	  Points		  [-30, 0]
	  DstBlock		  "Sum1"
	  DstPort		  1
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	  SrcBlock		  "D"
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	  DstPort		  2
	}
	Line {
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	  DstPort		  1
	}
	Line {
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	  SrcPort		  1
	  Points		  [50, 0]
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	  DstPort		  3
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	Line {
	  SrcBlock		  "Sum1"
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	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Outport
      Name		      "x"
      Position		      [350, 58, 380, 72]
      IconDisplay	      "Port number"
      BusOutputAsStruct	      off
    }
    Block {
      BlockType		      Outport
      Name		      "y"
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      IconDisplay	      "Port number"
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    Block {
      BlockType		      Outport
      Name		      "x1"
      Position		      [340, 193, 370, 207]
      Port		      "3"
      IconDisplay	      "Port number"
      BusOutputAsStruct	      off
    }
    Block {
      BlockType		      Outport
      Name		      "y1"
      Position		      [340, 228, 370, 242]
      Port		      "4"
      IconDisplay	      "Port number"
      BusOutputAsStruct	      off
    }
    Line {
      SrcBlock		      "Random System"
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      DstPort		      1
    }
    Line {
      SrcBlock		      "Random System"
      SrcPort		      2
      Points		      [30, 0]
      Branch {
	Points			[0, 50; -160, 0; 0, 50]
	DstBlock		"Kalman-Bucy Filter"
	DstPort			1
      }
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	DstBlock		"y"
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      }
    }
    Line {
      SrcBlock		      "Kalman-Bucy Filter"
      SrcPort		      1
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      DstPort		      1
    }
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      SrcBlock		      "Kalman-Bucy Filter"
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    }
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}