function?[?output_args?]?=?example（?input_args?）
%EXAMPLE?Summary?of?this?function?goes?here
%???Detailed?explanation?goes?here
%?State?=?（x??xdot?y?ydot?z）.?We?observe?（r?alpha?beta）.
%The?Difference?is?The?State?here.（x?xdot?y?ydot?z）.?not?（x?y?xdot?ydot?z）

D_r=50;?D_alpha=0.0052;D_beta=0.0052;%???D_alpha=D_beta=0.3?Degree
Total_time?=?100;
T_step=1;
ss?=?5;?%?state?size?????X=[xdot_x?y?dot_y?z]
os?=?3;?%?observation?size???Y=[r?alpha??beta]

F?=?[1?T_step?0?0?0;?0?1?0?0?0;?0?0?1?T_step?0;?0?0?0?1?0;0?0?0?0?1];?
Q_CV=[T_step^3/3?T_step^2/2?0?0?0?;T_step^2/2?T_step?0?0?0;0?0?T_step^3/3?T_step^2/2?0;0?0?T_step^2/2?T_step?0;?0?0?0?0?1/T_step];
q_CV=0.2;?%?Power?Spectral?density?of?the?corresponding?continuous?process?noise.??
%Q=0;??%?no?process?noise
Q=Q_CV.*q_CV;
R=[D_r^2?0?0;0?D_alpha^2?0;0?0?D_beta^2];
initx?=?[100000?30?100000?20?80000]‘;
init_x_filter=[100200?40?100100?30?80010]‘;??%?the?initial?of?the?filter.?you?can?choose?it?.
initV?=[400?0?0?0?0?;0?16?0?0?0?;0?0?400?0?0;0?0?0?16?0;0?0?0?0?400];%?the?initial?Covariance?of?the?filter?

[xy]?=?my_ekf_sample（F?Q?R?initx?Total_time）;?%output?x?is?ss-T?matrix.?y?is?os-T?matrix.
[x_filt?V_filt]?=?my_ekf_filter（y?F?Q?R?init_x_filter?initV）;
clf
%subplot（211）???????????????plot?range?in?x;
figure（1）
hold?on
plot（x（1:）?‘k-‘）;????
plot（x_filt（1:）‘r:‘）;
hold?off
legend（‘true‘?‘filtered‘?3）
xlabel（‘T‘）
ylabel（‘Range?in?X‘）

%subplot（212）????????%plot?x_dot
figure（2）
hold?on
plot（x（2:）‘k-‘）;
plot（x_filt（2:）‘r:‘）;
hold?off
legend（‘true‘‘filtered‘?2）
xlabel（‘T‘）
ylabel（‘Velocity?in?X‘）

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件????????1590??2006-11-01?20:00??TBD_PF\example.m
?????文件????????9192??2006-11-05?17:55??TBD_PF\frame_Data.asv
?????文件????????9482??2006-11-09?16:05??TBD_PF\frame_Data.m
?????文件????????3578??2006-11-06?09:32??TBD_PF\Measurement_Generate.asv
?????文件????????4032??2006-11-06?09:47??TBD_PF\Measurement_Generate.m
?????文件????????1134??2006-09-02?14:55??TBD_PF\multinomialR.m
?????文件?????????993??2006-10-31?18:17??TBD_PF\Regime_Transition.asv
?????文件?????????946??2006-10-31?18:32??TBD_PF\Regime_Transition.m
?????文件????????1401??2006-09-02?14:55??TBD_PF\residualR.m
?????文件????????1175??2006-10-16?11:23??TBD_PF\sensor_model1.m
?????文件????????1383??2006-11-02?09:19??TBD_PF\sensor_model_plot.m
?????文件????????1577??2001-05-24?02:06??TBD_PF\systematicR.m
?????文件?????????147??2006-11-11?13:35??TBD_PF\t1.asv
?????文件?????????182??2006-11-11?13:37??TBD_PF\t1.m
?????文件?????????108??2006-11-07?11:04??TBD_PF\t2.m
?????文件???????10750??2006-11-11?17:33??TBD_PF\Test_Regime.asv
?????文件???????10741??2006-11-11?17:36??TBD_PF\Test_Regime.m
?????文件?????????988??2006-11-11?11:40??TBD_PF\Uniform_sample.asv
?????文件?????????993??2006-11-11?11:42??TBD_PF\Uniform_sample.m