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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

% mreast.m % Scope: This MATLAB macro executes measurement reasonableness test for a % given scalar measurement. % Usage: alpha = mreast(n,ud,h,r,dz,tes

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

% 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 %

%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