%%?%?編寫人：zhang??????時間：?4/10/2014

%???????????????????????多重參數次優強跟蹤kalan濾波算法
%STKALMAN???standard?discrete-time?Kalman?filter?for?the?following?system:
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%?????????plant?equation:??????x（k）?=?F（k-1）*x（k-1）?+?G（k-1）*A?+?Gama（k-1）v（k）?????%
%?????????measurment?equation:?z（k）?=?H（k）*x（k）?????+?I（k）*w（k）????????????????????%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%
%?This?is?one?cycle?of?the?algorithm.??F?G?H?and?I?need?not?be?constant.?
%?For?example?they?can?be?time?varying?and?state?dependent.
%?flag?是當前kalman濾波的循環次數
%%?函數程序

function?[xkkPkkxkk_1Pkk_1SkWkzkk_1nukVk]=STKalman（xk_1k_1Pk_1k_1...
zkQk_1Rk_1vmk_1wmkFk_1Gk_1HkIkA

?屬性????????????大小?????日期????時間???名稱
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?????文件????????2625??2014-05-04?10:31??STKalman.m