%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%?S函數模版
%??詳細原理介紹及中文注釋請參考：
%??《卡爾曼濾波原理及應用-MATLAB仿真》，電子工業出版社，黃小平著。
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function?[sysx0strts]?=?sfuntmpl（txuflag）
switch?flag
????case?0
????????[sysx0strts]=mdlInitializeSizes;
????case?1
????????sys=mdlDerivatives（txu）;
????case?2
????????sys=mdlUpdate（txu）;
????case?3
????????sys=mdlOutputs（txu）;
????case?4
????????sys=mdlGetTimeOfNextVarHit（txu）;
????case?9
????????sys=mdlTerminate（txu）;
????otherwise
????????error（[‘Unhandled?flag?=?‘num2str（flag）]）;
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function?[sysx0strts]=mdlInitializeSizes
sizes?=?simsizes;
sizes.NumContStates??=?0;
sizes.NumDiscStates??=?0;
sizes.NumOutputs?????=?0;
sizes.NumInputs??????=?0;
sizes.DirFeedthrough?=?1;
sizes.NumSampleTimes?=?1;?
sys?=?simsizes（sizes）;
x0??=?[];?
str?=?[];??
ts??=?[0?0];?????????
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

function?sys=mdlDerivatives（txu）
sys?=?[];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

function?sys=mdlUpdate（txu）
sys?=?[];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

function?sys=mdlOutputs（txu）
sys?=?[];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

function?sys=mdlGetTimeOfNextVarHit（txu）
sampleTime?=?1;??
sys?=?t?+?sampleTime;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

function?sys=mdlTerminate（txu）
sys?=?[];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

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

?????文件???????5019??2015-06-25?17:48??第六章\ImmKalman.m

?????文件???????1802??2015-06-25?18:43??第七章\7.2.1\sfuntmpl.m

?????文件??????17873??2014-06-08?09:56??第七章\7.3.1\DistanceMessurement.mdl

?????文件???????1954??2015-06-25?18:44??第七章\7.3.1\SimuKalmanFilter.m

?????文件???????1203??2015-06-25?18:55??第七章\7.3.2\DeviationAnalysis.m

?????文件???????1865??2015-06-25?18:46??第七章\7.3.2\KalmanFilter.m

?????文件???????1535??2015-06-25?18:47??第七章\7.3.2\SimuStateFunction.m

?????文件??????27157??2014-06-09?16:25??第七章\7.3.2\System_TargetTracking_KF_Simulation.mdl

?????文件???????3244??2014-06-17?00:14??第七章\7.3.2\Xkalman.mat

?????文件???????3260??2014-06-17?00:14??第七章\7.3.2\Xstate.mat

?????文件???????1752??2014-06-17?00:14??第七章\7.3.2\Zobserv.mat

?????文件???????1188??2015-06-25?18:55??第七章\7.4.1\DataAnalysis.m

?????文件???????1916??2015-06-25?18:49??第七章\7.4.1\EKF.m

?????文件?????????71??2015-06-25?18:49??第七章\7.4.1\ffun.m

?????文件???????1358??2015-06-25?18:50??第七章\7.4.1\GetDistanceFunction.m

?????文件?????????67??2015-06-25?18:50??第七章\7.4.1\hfun.m

?????文件???????1383??2015-06-25?18:50??第七章\7.4.1\SimuStateFunction.m

?????文件??????23484??2014-06-16?14:19??第七章\7.4.1\System_TargetTracking_EKF_Simulation.mdl

?????文件???????1190??2015-06-25?18:55??第七章\7.4.2\DataAnalysis.m

?????文件?????????71??2015-06-25?18:55??第七章\7.4.2\ffun.m

?????文件???????1399??2015-06-25?18:52??第七章\7.4.2\GetDistanceFunction.m

?????文件?????????66??2015-06-25?18:52??第七章\7.4.2\hfun.m

?????文件???????1476??2015-06-25?18:55??第七章\7.4.2\SimuStateFunction.m

?????文件??????23484??2014-06-16?14:17??第七章\7.4.2\System_TargetTracking_UKF_Simulation.mdl

?????文件???????3174??2015-06-25?18:54??第七章\7.4.2\UKF.m

?????文件???????1712??2015-06-25?16:07??第三章\3.2.2\main.m

?????文件???????1718??2015-06-25?16:09??第三章\3.3.2\example2_3.m

?????文件???????1642??2015-06-25?16:13??第三章\3.4.2\Kalman.m

?????文件???????1967??2015-06-25?16:20??第三章\3.5.3\Oil_Explore.m

?????文件????????812??2015-06-25?16:26??第三章\3.6.1\1\VideoCapture.m

............此處省略184個文件信息