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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

/*************************************************************************** * This code and information is provided "as is" without warranty of any * * kind, either expressed or implied, includ

%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.

/////////////////////////////////////////////////////////////////////////////// // // // RegionTracker.cc

clear s s.x = 12; s.A = 1; % % Define a process noise (stdev) of 2 volts as the car operates: s.Q = 2^2; % variance, hence stdev^2 % Define the voltimeter to measure the voltage itself: s.H = 1;

%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.

;------------------------------------------------------------------------------ ;- ATMEL Microcontroller Software Support - ROUSSET - ;----------------------------------------------------

;------------------------------------------------------------------------------ ;- ATMEL Microcontroller Software Support - ROUSSET - ;----------------------------------------------------

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

k=3; t=0.5; %mes_start=[10 10 10]'; a0=[100 10 0.1 2 0 0 0 0 0]'; p0=eye(9); mes_total=5; measurement=[1 1 1;2 2 2;15 15 15;20 20 20;5 5 5]'; %vmin=0; %vmax=50; r=eye(3); yz2=100000;