function?[xkkSkkLH]=?CKF1（xkkSkkz）

global?nz?T?Rsqrt;

xkk（5:）?=?[];
Skk（5:）?=?[];
Skk（:5）=[];

%------------------------------------------------------------------------
%predict
%-------------------------------------------------------------------------

G1?=?[T^2/2?0?;?T?0?;?0?T^2/2?;?0?T?];

Q1sqrt?=?G1*sqrt（diag（[0.1^2?;?0.1^2?]））;

F?=?[1?T?0?0;
????0?1?0??0;
????0?0?1?T;
????0?0?0?1];


xkk1?=?F*xkk?;

[fooS]=?qr（[F*Skk?Q1sqrt]‘0）;
Skk1?=?S‘;


%%%========================================================================
%%%?Genrate?a?set?of?Cubature?Points
%%%========================================================================

nx?=?4;?%?state?vector?dimension

nz?=?2;

nPts?=?2*nx;????????%?No.?of?Cubature?Points

CPtArray?=?sqrt（nPt

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????文件????????1855??2011-02-21?21:13??CKF-IMM\CKF1.m
?????文件????????1999??2011-02-21?21:13??CKF-IMM\CKF2.m
?????文件????????1911??2011-02-21?17:19??CKF-IMM\IMM.m
?????文件???????95491??2011-02-21?22:30??CKF-IMM\IMM-CKF.pdf
?????文件????????2502??2011-02-21?21:28??CKF-IMM\Main.m
?????文件?????????152??2011-02-21?21:01??CKF-IMM\MstEq.m
?????文件?????????689??2011-02-21?17:19??CKF-IMM\simulate_flight.m