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Measurement 的代码
measure.c
/*----------------------------------------------------------------------------
* Name: MEASURE.C
* Purpose: Remote Measurement Recorder
* Version: V1.10
*--------------------
calculate_gravity.m
% calculate_gravity.m
%use symbolic math for measurement error
syms L g %original input variables (length, gravity)
T = 2*pi*sqrt(L/g); %textbook equation period T=f(L,
josephb.m
function [K,Pout] = josephb(z,R,H,P)
%
% Joseph "stabilized" Kalman filter measurement
% update as modified by Bierman.
%
T1 = sqrt(R);
T2 = H/T1;
T4 = P*T2';
T5 = T2*T4 + 1;
K = T4/T5;
T7
joseph.m
function [K,Pout] = joseph(z,R,H,P)
%
% P. D. Joseph's "stabilized" Kalman filter measurement
% update.
%
n = length(H);
zp = sqrt(1/R);
Hp = zp*H;
K = (Hp*P*Hp' + 1) \ P*Hp';
W = eye
josephdv.m
function [K,Pout] = josephdv(z,R,H,P)
%
% Joseph "stabilized" Kalman filter measurement
% update as implemented by De Vries.
%
T1 = P*H';
T2 = H*T1 + R;
K = T1/T2;
T3 = .5*K*T2 - T1;
T4 = T3
josephb.m
function [K,Pout] = josephb(z,R,H,P)
%
% Joseph "stabilized" Kalman filter measurement
% update as modified by Bierman.
%
T1 = sqrt(R);
T2 = H/T1;
T4 = P*T2';
T5 = T2*T4 + 1;
K = T4/T5;
T7
joseph.m
function [K,Pout] = joseph(z,R,H,P)
%
% P. D. Joseph's "stabilized" Kalman filter measurement
% update.
%
n = length(H);
zp = sqrt(1/R);
Hp = zp*H;
K = (Hp*P*Hp' + 1) \ P*Hp';
W = eye
josephdv.m
function [K,Pout] = josephdv(z,R,H,P)
%
% Joseph "stabilized" Kalman filter measurement
% update as implemented by De Vries.
%
T1 = P*H';
T2 = H*T1 + R;
K = T1/T2;
T3 = .5*K*T2 - T1;
T4 = T3
kf_lhood.m
%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
ekf_sine_h.m
% 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