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function uo=units2tex(ui) % Function substitutes TeX-style units for input units that imply exponents or % greek letters (for axis annotation of plots) % e.g. kg/m3 ==> kg/m^3 % % Written by E.

function uo=units2tex(ui) % Function substitutes TeX-style units for input units that imply exponents or % greek letters (for axis annotation of plots) % e.g. kg/m3 ==> kg/m^3 % % Written by E.

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

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

ORDER=3; BIAS=.00001*32.2; SF=.000005; XK=.000001/32.2; SIGTH=.000001; G=32.2; BIASH=0.; SFH=0.; XKH=0; SIGNOISE=.000001; S=0.; Q=zeros(ORDER); PHI=[1 0 0; 0 1 0;0 0 1]; IDNP=eye(ORDER);

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

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

%EKF_UPDATE2 2nd order Extended Kalman Filter update step % % Syntax: % [M,P,K,MU,S,LH] = EKF_UPDATE2(M,P,Y,H,H_xx,R,[h,V,param]) % % In: % M - Nx1 mean state estimate after prediction step %

%EKF_UPDATE1 1st order Extended Kalman Filter update step % % Syntax: % [M,P,K,MU,S,LH] = EKF_UPDATE1(M,P,Y,H,R,[h,V,param]) % % In: % M - Nx1 mean state estimate after prediction step % P -

%IMM_UPDATE Interacting Multiple Model (IMM) Filter update step % % Syntax: % [X_i,P_i,MU,X,P] = IMM_UPDATE(X_p,P_p,c_j,ind,dims,Y,H,h,R,param) % % In: % X_p - Cell array containing N^j x 1 mean