%?spherical-radial?cubature?kalman?filter
%?system?model:
%?????????????x[k+1]=f（x[k]k）+q[k]?q~N（0Q）.
%?????????????z[k+1]=h（x[k+1]k+1）+r[k+1]r~N（0R）.
%?[mp]=ckf_predict（mpfQ）
%??????input:
%????????????m--previous?step?mean?state
%????????????p--previous?step?state?covariance
%????????????f--handle?of?f?function
%????????????Q--process?noise?covariance
%??????output:
%????????????m--predicted?mean?state
%????????????p--predicted?state?covariance
%?2017/04/22
%%
function?[mp]=ckf_predict（mpfQ）
????n=size（m1）;
????%?cubature?points
????xp=cuba_points（mp）;
????%?evaluate?the?cubature?points?with?model?function
????xf=feval（fxp）;
????%?estimate?the?predicted?state?mean
????m=sum（xf2）/（2*n）;
????%?predicted?error?covariance
????p=xf*xf‘/（2*n）-m*m‘+Q;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件????????150??2017-04-19?16:57??ukf\demo_sin_f.m

?????文件????????176??2017-04-19?17:10??ukf\demo_sin_h.m

?????文件???????1776??2017-04-19?18:15??ukf\demo_ukf_sin.m

?????文件????????794??2017-04-17?11:02??ukf\discretization.m

?????文件????????346??2017-04-17?16:17??ukf\gauss_rnd.m

?????文件???????1507??2017-04-19?16:55??ukf\ukf_predict.m

?????文件???????1047??2017-04-19?17:22??ukf\ukf_update.m

?????文件???????1021??2017-04-20?09:20??ukf\urts_smooth.m

?????文件????????414??2017-04-19?10:25??ukf\ut_sigmas.m

?????文件????????695??2017-04-19?10:46??ukf\ut_weights.m

?????文件????????803??2017-04-22?11:29??ckf\ckf_predict.m

?????文件????????562??2017-04-22?10:51??ckf\ckf_update.m

?????文件????????698??2017-04-22?11:36??ckf\crts_smooth.m

?????文件????????355??2017-04-22?11:01??ckf\cuba_points.m

?????文件???????1699??2017-04-22?11:37??ckf\demo_ckf_sin.m

?????文件????????150??2017-04-22?11:28??ckf\demo_sin_f.m

?????文件????????176??2017-04-22?11:28??ckf\demo_sin_h.m

?????文件????????794??2017-04-22?11:28??ckf\discretization.m

?????文件????????346??2017-04-22?11:28??ckf\gauss_rnd.m

?????文件???????1764??2017-04-22?09:16??ghkf\demo_ghkf_sin.m

?????文件????????150??2017-04-19?16:57??ghkf\demo_sin_f.m

?????文件????????176??2017-04-19?17:10??ghkf\demo_sin_h.m

?????文件????????794??2017-04-17?11:02??ghkf\discretization.m

?????文件????????346??2017-04-17?16:17??ghkf\gauss_rnd.m

?????文件????????835??2017-04-21?10:00??ghkf\ghkf_predict.m

?????文件???????1098??2017-04-21?10:08??ghkf\ghkf_update.m

?????文件????????521??2017-04-21?17:51??ghkf\ghkf_weights.m

?????文件???????1012??2017-04-22?09:05??ghkf\ghrts_smooth.m

?????文件???????1553??2017-04-21?19:14??ghkf\hermite_polynomial.m

?????文件????????942??2017-04-21?17:54??ghkf\lattice_points.m

............此處省略18個文件信息