%?Jacobian?of?the?measurement?model?function?
%
%??dh_dx?=?-（y-sy）?/?（x-sx）^2?*?1?/?（1?+?（y-sy）^2?/?（x-sx）^2）
%????????=?-（y-sy）?/?（（x-sx）^2?+?（y-sy）^2）
%??dh_dy?=?1?/?（x-sx）?*?1?/?（1?+?（y-sy）^2?/?（x-sx）^2）
%????????=?（x-sx）?/?（（x-sx）^2?+?（y-sy）^2）
%


function?dY?=?bot_dh_dx（xs）
??%?Reserve?space?for?the?Jacobian.?
??dY?=?zeros（size（s2）size（x1））;
??
??%?Loop?through?sensors
??for?i=1:size（s2）
????dh?=?[-（x（2）-s（2i））?/?（（x（1）-s（1i））^2?+?（x（2）-s（2i））^2）;...
	???（x（1）-s（1i））?/?（（x（1）-s（1i））^2?+?（x（2）-s（2i））^2）;...
	??zeros（size（x1）-21）]‘;
????dY（i:）?=?dh;?
??end

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

?????文件????????582??2012-01-28?14:00??imm?ukf?filter\bot_dh_dx.m

?????文件????????373??2012-01-28?12:25??imm?ukf?filter\bot_h.m

?????文件???????3806??2012-01-28?14:01??imm?ukf?filter\eimm_predict.m

?????文件???????3209??2012-01-28?14:01??imm?ukf?filter\eimm_update.m

?????文件???????2131??2012-01-28?14:03??imm?ukf?filter\ekf_predict1.m

?????文件???????2277??2012-01-28?14:03??imm?ukf?filter\ekf_update1.m

?????文件????????707??2012-01-28?14:04??imm?ukf?filter\f_turn.m

?????文件????????986??2012-01-28?15:01??imm?ukf?filter\f_turn_dx.m

?????文件????????686??2012-01-28?15:02??imm?ukf?filter\f_turn_inv.m

?????文件???????1247??2012-01-28?14:06??imm?ukf?filter\gauss_pdf.m

?????文件????????545??2012-01-28?14:06??imm?ukf?filter\gauss_rnd.m

?????文件???????8197??2012-01-28?14:07??imm?ukf?filter\imm_smooth.m

?????文件???????1702??2012-01-28?14:07??imm?ukf?filter\kf_predict.m

?????文件???????1477??2012-01-28?14:15??imm?ukf?filter\lti_disc.m

?????文件??????12560??2012-01-27?16:18??imm?ukf?filter\phase1result.m

?????文件??????12564??2012-02-06?21:23??imm?ukf?filter\phase1result2.m

?????文件???????3459??2012-01-28?14:16??imm?ukf?filter\uimm_predict.m

?????文件???????8626??2012-01-28?14:16??imm?ukf?filter\uimm_smooth.m

?????文件???????2586??2012-01-28?14:17??imm?ukf?filter\uimm_update.m

?????文件???????1885??2012-01-28?14:17??imm?ukf?filter\ukf_predict1.m

?????文件???????3047??2011-08-12?14:33??imm?ukf?filter\ukf_update1.m

?????文件????????991??2012-01-28?14:21??imm?ukf?filter\ut_mweights.m

?????文件????????622??2012-01-28?14:22??imm?ukf?filter\ut_sigmas.m

?????文件???????3203??2012-01-28?14:22??imm?ukf?filter\ut_transform.m

?????文件???????1264??2012-01-28?14:22??imm?ukf?filter\ut_weights.m

?????目錄??????????0??2012-02-14?08:24??imm?ukf?filter

-----------?---------??----------?-----??----

????????????????78732????????????????????26