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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

function [y] = ukf_hfun(x,u,n,t); % PURPOSE : Measurement model function fpr UKF. % INPUTS : - x: Hidden state % : - u: control vector % - n: Measurement noise % - t

%%% DynaEst 3.032 10/22/2000 % Copyright (c) 2000 Yaakov Bar-Shalom % % ReadMeasurement, Read Measurement from external measurement file fid = fopen(Project_Measurement_Filename,'rt'); if fid

%%% DynaEst 3.032 10/22/2000 % Copyright (c) 2000 Yaakov Bar-Shalom % % SelectMeasurement, select a measurement filename to export measurement set(h_HeadTitle, 'String','Measurement export file:

%%% DynaEst 3.032 10/22/2000 % Copyright (c) 2000 Yaakov Bar-Shalom % % SelectExternalFile, Select External Measurement File new_title=1; if (exist('h_HeadTitle') == 0) else if ishandle(h_H

%%% DynaEst 3.032 01/02/2001 % Copyright (c) 2000 Yaakov Bar-Shalom % % Subfunction ObservationModel : generate observation model for ground truth and measurement function [Ht,It,Rt] = Observati

%%% DynaEst 3.032 11/22/2000 % Copyright (c) 2000 Yaakov Bar-Shalom % % ExportMeasurement, export measurement switch SimulationFlag case {1,2,3} GenerateMeasurement ; case 4 end fid

%%% DynaEst 3.032 10/22/2000 % Copyright (c) 2000 Yaakov Bar-Shalom % %Xzgen generate the true state and the measurement at time k %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

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

function [X,P] = k_ud(X,P,H,Y,R) % K_UD Kalman update, one measurement per call % Observation covariance R % Written by Kai Borre and C.C. Goad % November 24, 1996 omc = Y-H'*X;