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k=3; t=0.5; mes_start=[0 0]'; a0=[1 1 1 1 1 1]'; p0=eye(6); mes_total=5; measurement=[1 2 3 4 5;1 2 3 4 5]; vmin=0; vmax=10; r=eye(2); yz1=2.5;

%MESG Display progress information. % MESG subroutine displays progress status when performing MIMO system % performance measurement. Therefore it makes no sense to run this % routine alone.

function observe_heading(phi, useheading) %function observe_heading(phi, useheading) % % Perform state update for a given heading measurement, phi, % with fixed measurement noise: sigmaPhi global

% Measurement model function for the UNGM-model. % % Copyright (C) 2007 Jouni Hartikainen % % This software is distributed under the GNU General Public % Licence (version 2 or later); please refer to

% Measurement model function for the UNGM-model. % % Copyright (C) 2007 Jouni Hartikainen % % This software is distributed under the GNU General Public % Licence (version 2 or later); please refer to

%MESG Display progress information. % MESG subroutine displays progress status when performing MIMO system % performance measurement. Therefore it makes no sense to run this % routine alone.

% Measurement model function for the UNGM-model. % % Copyright (C) 2007 Jouni Hartikainen % % This software is distributed under the GNU General Public % Licence (version 2 or later); please refer to

%MESG Display progress information. % MESG subroutine displays progress status when performing MIMO system % performance measurement. Therefore it makes no sense to run this % routine alone.

Measured speed of sound of air, extracted from R.C Hart, R.J. Balla, and G.C. Herring, "Optical Measurement of the Speed of Sound in Air Over the Temperature Range 300-650 K", NASA/CR-2000-210114, I

Measured speed of sound of air, extracted from R.C Hart, R.J. Balla, and G.C. Herring, "Optical Measurement of the Speed of Sound in Air Over the Temperature Range 300-650 K", NASA/CR-2000-210114, I