close?all;
clear?all;
%
disp（‘GREWAL?AND?ANDREWS‘）;
disp（‘KALMAN?FILTERING:?THEORY?AND?PRACTICE?USING?MATLAB?4TH?EDITION‘）;
disp（‘WILEY?2014.‘）;
disp（‘CHAPTER?1‘）;
disp（‘-------------------------------------------------------------------‘）;
disp（‘LEAST-SQUARES?FIT?OF?INERTIAL?NAVIGATION?RMS?HORIZONTAL?UNCERTAINTY‘）;
disp（‘TO?CEP?RATE?WHERE?CEP?=?“CIRCULAR?ERROR?PROBABLE“?AND?UNITS?ARE‘）;
disp（‘NAUTICAL?MILES?（1852?meters）.‘）;
disp（‘-------------------------------------------------------------------‘）;
%
%?1.?LOAD?DATA?（RHS?horizontal?error?[m]?from?medium?accuracy?inertial
%???????????????navigation?system?solution?from?Riccati?equation.）
%
load?‘RMSHorINS1m.mat‘
%
%?CREATE?TIMELINE
%
N???????=?length（RMSHorINS）;
hr??????=?4*（0:N-1）/（N-1）;
plot（hrRMSHorINS/1852‘k-‘‘LineWidth‘2）;?%?CEP?is?“circle?of?equal?probability“
%?????????????????????????????????????????????a?circle?around?the?estimate
%?????????????????????????????????????????????of?sufficient?radius?such
%?????????????????????????????????????????????that?it?is?equally?likely
%?????????????????????????????????????????????that?the?true?value?is?inside
%?????????????????????????????????????????????or?outside?of?that?circle.
%?????????????????????????????????????????????Division?by?1852?converts
%?????????????????????????????????????????????from?meters?to?nautical?miles
hold?on;
xlabel（‘TIME?IN?HOURS‘）;
ylabel（‘RMS?HORIZONTAL?NAVIGATION?ERROR?IN?NMi‘）;
title（‘INPUT?DATA??FROM?CHAPTER?10?FOR?LEAST-SQUARES?STRAIGHT-LINE?FIT‘）;
%
%?CALCULATE?GRAMIAN?（SCALAR）
%
G???????=?hr*hr‘;???%?hr?is?a?row?vector.
%
%?CALCULATE?LEAST-SQUARES?STRAIGHT-LINE?SLOPE?IN?NMi/Hr
%
if?G?~=?0
????disp（[‘GRAMIAN?????????????=?‘num2str（G）‘?Hr^2.‘]）;
????CEPrate?=?hr*RMSHorINS‘/G/1852;
????disp（[‘CALCULATED?CEP?RATE?=?‘num2str（CEPrate）‘?NMi/Hr.‘]）;
????disp（‘（Shown?by?dashed?line?on?the?plot.）‘）;
????disp（‘（THIS?WILL?MAKE?MORE?SENSE?IN?CHAPTER?10）‘）;
????CEPslf?=?CEPrate*hr;????%?CEP?straight?line?fit
????plot（hrCEPslf‘k--‘‘LineWidth‘1.5）;
else
????disp（[‘GRAMIAN?????????????=?‘num2str（G）‘?Hr^2.‘]）;
????disp（‘NO?SOLUTION?POSSIBLE.‘）;
end;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2017-11-20?09:54??19783\
?????目錄???????????0??2017-11-20?09:54??19783\MATLAB?代碼\
?????目錄???????????0??2017-11-20?09:55??19783\MATLAB?代碼\Chapter01\
?????文件????????2174??2017-11-20?09:55??19783\MATLAB?代碼\Chapter01\LeastSquaresFit.m
?????文件??????182781??2017-11-20?09:55??19783\MATLAB?代碼\Chapter01\RMSHorINS1m.mat
?????目錄???????????0??2017-11-20?09:55??19783\MATLAB?代碼\Chapter02\
?????文件????????1156??2017-11-20?09:55??19783\MATLAB?代碼\Chapter02\expm1.m
?????目錄???????????0??2017-11-20?09:55??19783\MATLAB?代碼\Chapter03\
?????文件?????????313??2017-11-20?09:55??19783\MATLAB?代碼\Chapter03\CumProbGauss.m
?????文件?????????646??2017-11-20?09:55??19783\MATLAB?代碼\Chapter03\GaussEqPart.m
?????文件????????8482??2017-11-20?09:55??19783\MATLAB?代碼\Chapter03\meansqesterr.m
?????文件?????????327??2017-11-20?09:55??19783\MATLAB?代碼\Chapter03\pChiSquared.m
?????文件?????????221??2017-11-20?09:55??19783\MATLAB?代碼\Chapter03\pLaplace.m
?????文件?????????666??2017-11-20?09:55??19783\MATLAB?代碼\Chapter03\pLogNormal.m
?????文件?????????879??2017-11-20?09:55??19783\MATLAB?代碼\Chapter03\PlotpYArctanaX.m
?????文件?????????378??2017-11-20?09:55??19783\MATLAB?代碼\Chapter03\pNormal.m
?????文件?????????312??2017-11-20?09:55??19783\MATLAB?代碼\Chapter03\pUniform.m
?????文件?????????287??2017-11-20?09:55??19783\MATLAB?代碼\Chapter03\pYArctanaX.m
?????目錄???????????0??2017-11-20?09:55??19783\MATLAB?代碼\Chapter04\
?????文件????????1070??2017-11-20?09:55??19783\MATLAB?代碼\Chapter04\VanLoan.m
?????目錄???????????0??2017-11-20?09:55??19783\MATLAB?代碼\Chapter05\
?????文件????????5179??2017-11-20?09:55??19783\MATLAB?代碼\Chapter05\exam57.m
?????文件????????6100??2017-11-20?09:55??19783\MATLAB?代碼\Chapter05\exam58.m
?????文件????????8662??2017-11-20?09:55??19783\MATLAB?代碼\Chapter05\F2Phi.m
?????文件?????????601??2017-11-20?09:55??19783\MATLAB?代碼\Chapter05\OBSUP.M
?????文件????????3055??2017-11-20?09:55??19783\MATLAB?代碼\Chapter05\ProbCond.m
?????文件?????????502??2017-11-20?09:55??19783\MATLAB?代碼\Chapter05\TIMEUP.M
?????目錄???????????0??2017-11-20?09:55??19783\MATLAB?代碼\Chapter06\
?????文件????????1668??2017-11-20?09:55??19783\MATLAB?代碼\Chapter06\BMFLS.m
?????文件????????2043??2017-11-20?09:55??19783\MATLAB?代碼\Chapter06\FiniteFIS.m
?????文件????????4407??2017-11-20?09:55??19783\MATLAB?代碼\Chapter06\FIS3pass.m
............此處省略85個文件信息