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function [x,P]=ekf(fstate,x,P,hmeas,z,Q,R) % EKF Extended Kalman Filter for nonlinear dynamic systems % [x, P] = ekf(f,x,P,h,z,Q,R) returns state estimate, x and state covariance, P % for nonlin

function [x,P]=ekf(fstate,x,P,hmeas,z,Q,R) % EKF Extended Kalman Filter for nonlinear dynamic systems % [x, P] = ekf(f,x,P,h,z,Q,R) returns state estimate, x and state covariance, P % for nonlin

clc; clear; n=4; % the number of base stations m=1; % the number of measurements delta=60; % variance of measurement noise % bx(1:n)=0; by(1:5

clc; clear; n=4; % the number of base stations m=1; % the number of measurements delta=60; % variance of measurement noise % bx(1:n)=0; by(1:5

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

//----------------------------------------------------------------------------- // F35x_ADC0_ExternalInput.c //----------------------------------------------------------------------------- // Copyr

% CLOSEPSAT clear all PSAT global variables from workspace % % CLOSEPSAT % % Author: Federico Milano % Date: 22-Feb-2004 % Version: 1.0.0 % % E-mail: fmilano@thunderbox.uwaterloo.ca % Web

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

%%% DynaEst 3.032 10/22/2000 % Copyright (c) 2000 Yaakov Bar-Shalom % % KalmanDef, user defined Kalman Filter parameters % Filter Algorithm Type FilterAlgorithmFlag = 1; % 1 stand for ALGORI

%%% DynaEst 3.032 12/29/2000 % Copyright (c) 2000 Yaakov Bar-Shalom % % InitialParameters omega = 1 ; %Constant/Initial angular rate kmax = 20; % maximum number of time steps Tmin = 1