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% qrupa.m % Scope: This MATLAB macro implements the updating algorithm [1] for Q-R % factorization of the modified measurement matrix when a new %

% mudm1.m % Scope: This MATLAB macro implements the discrete Kalman filter measurement % updating using Bierman's U-D measurement update algorithm. On

% timetr.m % Scope: This MATLAB macro computes GPS time of transmission from time of % measurement (reception) for a satellite pseudorange measurement; %

% xmudm.m % Scope: This MATLAB program tests the macros: mudm, mudm1 and mreast . % Implementation of the discrete Kalman filter measurement updating %

% xqrupa.m % Scope: This MATLAB program tests the updating algorithm [1] for Q-R % factorization of the modified measurement matrix when a new %

function [y] = ukf_bshfun(x,u,n,t); % PURPOSE : Measurement model function for UKF % INPUTS : - x: The evaluation point in the domain. % : - u: exogenous inputs % : - n: measureme

function [y] = bshfun(x,u,t); % PURPOSE : Measurement model function. % INPUTS : - x: The evaluation point in the domain. % OUTPUTS : - y: The value of the function at x. % AUTHORS : Nando de Fre

function [y] = hfun(x,t); % PURPOSE : Measurement model function. % INPUTS : - x: The evaluation point in the domain. % OUTPUTS : - y: The value of the function at x. % AUTHORS : % DATE : if

function [y] = ukf_hfun(x,u,n,t); % PURPOSE : Measurement model function fpr UKF. % INPUTS : - x: Hidden state % : - u: control vector % - n: Measurement noise % - t

Measurement closest(double beta, Node t[]) { Measurement self = get_distance_tcp(t, -1); double avg_lat = array_avg(self.distance); double min_lat = array_min(self.distance); double max_lat = arra