function?[mu_ckfP_ckf]=ckf（xEstPEstFQzRobstationqw）
%?title:?Cubature?Kalman?Filter
%?qw:?Cubature?Points?and?Weights
%?Writed?by?GUO?Hui
%?2009-12-9

rows=size（xEst1）;
N=size（q2）;
wPt=repmat（wrows1）;

S=chol（PEst）‘;
xPt=S*q+xEst*ones（1N）;
xPt_Pred1=F*xPt;
x_Pred=xPt_Pred1*w‘;

exPt1=（xPt_Pred1-repmat（x_Pred1N））;
P_Pred=（wPt.*exPt1）*exPt1‘+Q;

S_Pred=chol（P_Pred）‘;
xPt_Pred2=S_Pred*q+x_Pred*ones（1N）;
zm（1:）=atan（（xPt_Pred2（3:）-repmat（obstation（13）1N））./sqrt（（xPt_Pred2（1:）-repmat（obstation（11）1N））.^2+...
????????（xPt_Pred2（2:）-repmat（obstation（12）1N））.^2））;
zm（2:）=atan（（xPt_Pred2（3:）-repmat（obstation（23）1N））./sqrt（（xPt_Pred2（1:）-repmat（obstation（21）1N））.^2+...
????????（xPt_Pred2（2:）-repmat（obstation（22）1N））.^2））;
zm（3:）=at

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

?????文件???????1508??2009-12-09?17:23??3-d\ckf.m

?????文件?????????86??2009-12-09?09:57??3-d\Cubaturepoint_6d.m

?????文件???????2255??2014-04-14?10:03??3-d\data.m

?????文件???????4837??2014-04-14?14:40??3-d\demo_MC.m

?????文件???????3702??2009-12-09?22:46??3-d\ekf.m

?????文件????????648??2009-12-09?09:00??3-d\GaussHermitepoint_6d.m

?????文件????????378??2008-12-19?16:08??3-d\multivrandn.m

?????文件???????1528??2009-12-09?17:23??3-d\qkf.m

?????文件???????1359??2009-06-16?10:29??3-d\scaledSymmetricSigmaPoints.m

?????文件???????3826??2009-12-09?15:44??3-d\ukf.m

?????文件???????2956??2009-12-08?23:07??3-d\ukf1.m

?????文件????????267??2010-03-09?14:28??3-d\說明文檔.txt

?????目錄??????????0??2014-04-16?22:21??3-d

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????????????????23350????????????????????13