資源簡介
高階容積卡爾曼濾波程序，CKF，可用于濾波和跟蹤
代碼片段和文件信息
function?[x?P]?=?Fifth_degree_CKF（xhat?Pplus?z）
global?Q?R?T?m?kesi_5?b_5?w2_5?w_5?w4_5;
%%?--------------------------5th-degree?CKF-----------------------
%%?---------------------------Time?Update-------------------------
%?Evaluate?the?Cholesky?factor
Shat?=?chol（Pplus?‘lower‘）;
for?cpoint?=?1?:?b_5
????%?Evaluate?thecubature?points
????rjpoint_5（:?cpoint）?=?Shat?*?kesi_5（:?cpoint）?+?xhat;
????%?Evaluate?the?propagated?cubature?points
????fai3?=?[1?sin（rjpoint_5（5?cpoint）?*?T）?/?rjpoint_5（5?cpoint）?0?-（1?-?...
????????cos（rjpoint_5（5?cpoint）?*?T））?/?rjpoint_5（5?cpoint）?0;
????????0?cos（rjpoint_5（5?cpoint）?*?T）?0?-sin（rjpoint_5（5?cpoint）?*?T）?0;
????????0?（1?-?cos（rjpoint_5（5?cpoint）?*?T））?/?rjpoint_5（5?cpoint）?1?...
????????sin（rjpoint_5（5?cpoint）?*?T）?/?rj?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件????????3274??2020-11-03?09:05??Fifth_degree_CKF.m
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