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% Hessian of the measurement function in BOT-demo. % Copyright (C) 2007 Jouni Hartikainen % % This software is distributed under the GNU General Public % Licence (version 2 or later); please refer t

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

% % 2007.4.1 clc; clear; n=4; % the number of base stations m=100; % the number of measurements delta=60; % variance of measurement noise

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

%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.

Measured speed of sound of air, extracted from R.C Hart, R.J. Balla, and G.C. Herring, "Optical Measurement of the Speed of Sound in Air Over the Temperature Range 300-650 K", NASA/CR-2000-210114, I

Measured speed of sound of air, extracted from R.C Hart, R.J. Balla, and G.C. Herring, "Optical Measurement of the Speed of Sound in Air Over the Temperature Range 300-650 K", NASA/CR-2000-210114, I

function [y] = ukf_bshfun(x,u,n,t); % PURPOSE : Measurement model function for UKF % INPUTS : - x: The evaluation point in the domain. % : - u: exogenous inputs % : - n: measureme

function [y] = bshfun(x,u,t); % PURPOSE : Measurement model function. % INPUTS : - x: The evaluation point in the domain. % OUTPUTS : - y: The value of the function at x. % AUTHORS : Nando de Fre