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Measurement 的代码
chap7_10f.m
%Discrete Kalman filter
%x=Ax+B(u+w(k));
%y=Cx+D+v(k)
function [u]=kalman(u1,u2,u3)
persistent A B C D Q R P x
yv=u2;
if u3==0
x=zeros(2,1);
ts=0.001;
a=25;b=133;
sys=tf(b,[1,a
chap7_10.m
%Discrete Kalman filter for PID control
%Reference kalman_2rank.m
%x=Ax+B(u+w(k));
%y=Cx+D+v(k)
clear all;
close all;
ts=0.001;
%Continuous Plant
a=25;b=133;
sys=tf(b,[1,a,0]);
dsys=c2d(sy
chap7_8.m
%Kalman filter
%x=Ax+B(u+w(k));
%y=Cx+D+v(k)
clear all;
close all;
ts=0.001;
M=3000;
%Continuous Plant
a=25;b=133;
sys=tf(b,[1,a,0]);
dsys=c2d(sys,ts,'z');
[num,den]=tfdata(dsys,'v');
viewtrajectories.m
%%% DynaEst 3.032 10/22/2000
% Copyright (c) 2000 Yaakov Bar-Shalom
%
%ViewTrajectories
subplot(1,1,1)
set(view_legend_menu,'Enable','on')
set(view_grid_menu,'Enable','on')
ViewStatusFlag
alphabetamontecarlorun.m
%%% DynaEst 3.032 02/18/2001
% Copyright (c) 2000 Yaakov Bar-Shalom
%
% AlphaBetaMonteCarloRun alpha beta Kalman filter -- Monte Carlo runs
% it's availabe only when SimulationFlag is 1,2,3
% Ca
latency.h
//---------------------------------------------------------------------------
//
// Latency.h: CLatencyFunc Class Header
//
//----------------------------------------------------------------------
kalman.cpp
#include "cv.h"
#include "highgui.h"
#include
#include "time.h"
#include "stdio.h"
#define QQ 1 //噪声协方差
#define RR 1
#define PP 2 //先验误差相关矩阵
#define TF 256 //模拟长度
#define PN 100 //粒子
chap7_11.m
%Discrete Kalman filter for PID control
%Reference kalman_2rank.m
%x=Ax+B(u+w(k));
%y=Cx+D+v(k)
clear all;
close all;
ts=0.001;
%Continuous Plant
a=25;b=133;
sys=tf(b,[1,a,0]);
dsys=c2d(sy
chap7_9.m
%Kalman filter
%x=Ax+B(u+w(k));
%y=Cx+D+v(k)
clear all;
close all;
ts=0.001;
M=3000;
%Continuous Plant
a=25;b=133;
sys=tf(b,[1,a,0]);
dsys=c2d(sys,ts,'z');
[num,den]=tfdata(dsys,'v');
chap7_10f.m
%Discrete Kalman filter
%x=Ax+B(u+w(k));
%y=Cx+D+v(k)
function [u]=kalman(u1,u2,u3)
persistent A B C D Q R P x
yv=u2;
if u3==0
x=zeros(2,1);
ts=0.001;
a=25;b=133;
sys=tf(b,[1,a