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% 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

% Jacobian of the 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);

% Hessian of the measurement model function in UNGM-model. % Copyright (C) 2007 Jouni Hartikainen % % This software is distributed under the GNU General Public % Licence (version 2 or later); please

% Azimuth measurement function for EKF/UKF. % % h = atan((y-sy) / (x-sx)) % % Copyright (C) 2003 Simo S鋜kk

% Jacobian of the measurement model function in BOT demo. % % dh_dx = -(y-sy) / (x-sx)^2 * 1 / (1 + (y-sy)^2 / (x-sx)^2) % = -(y-sy) / ((x-sx)^2 + (y-sy)^2) % dh_dy = 1 / (x-sx) * 1 / (1 + (y

% Hessian of the measurement function in BOT-demo. % Copyright (C) 2007 Jouni Hartikainen % % This software is distributed under the GNU General Public % Licence (version 2 or later); please refer t

%KF_LHOOD Kalman Filter measurement likelihood % % Syntax: % LH = KF_LHOOD(X,P,Y,H,R) % % In: % X - Nx1 state mean % P - NxN state covariance % Y - Dx1 measurement vector. % H - Me

% Measurement model function for the random sine signal demo % Copyright (C) 2007 Jouni Hartikainen % % This software is distributed under the GNU General Public % Licence (version 2 or later); plea

% Jacobian of the measurement model function in the random sine signal demo % Copyright (C) 2007 Jouni Hartikainen % % This software is distributed under the GNU General Public % Licence (version 2

% Hessian of the measurement model function in the random sine signal demo % Copyright (C) 2007 Jouni Hartikainen % % This software is distributed under the GNU General Public % Licence (version 2 o