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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

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

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

function Correlated(M, MFilter) % Kalman filter simulation using correlated process and measurement noise. % This illustrates the improvement in filter results that can be attained % when the cor

%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 z= add_observation_noise(z,R, addnoise) %function z= add_observation_noise(z,R, addnoise) % % Add random measurement noise. We assume R is diagonal. if addnoise == 1 len= size(

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

function z= add_observation_noise(z,R, addnoise) %function z= add_observation_noise(z,R, addnoise) % % Add random measurement noise. We assume R is diagonal. if addnoise == 1 len= size(

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