%?------------------------------------------------------------------------------%
%?This?is?code?for?a?computational?experiment?that?compares?the?performance?????%
%?of?a?regular?Particle?Filter（PF）?a?Gaussian?Particle?Filter（GPF）?????????????%
%?and?a?Gaussian?Particle?Filter?that?samples?directly?from?the?posterior（GPF2）?%
%?------------------------------------------------------------------------------%
%?For?more?details?on?GPF?and?GPF2?see?????????????????????????????????????????%
%?[Frank?Hutter?and?Richard?Dearden?Efficient?On-Line?Fault?Diagnosis?for??????%
%?Non-Linear?Systems?in?“Proceedings?of?The?11th?International?Conference?on????%
%?AI?Robotics?and?Automation?in?Space（i-SAIRAS03）“].???????????????????????????%
%?------------------------------------------------------------------------------%
%?Last?update?:?January-08?2003??（?draft?version?）?????????????????????????????%
%?AUTHORS:?Frank?Hutter?Richard?Dearden????????????????????????????????????????%
%?------------------------------------------------------------------------------%
clear?all;
echo?off;
path（‘./core‘path）;
path（‘./algos‘path）;
path（‘./general‘path）;

%?=======================================================================
%?????CHOOSE?THE?MODEL?YOU?WANT?TO?WORK?WITH.
%?Make?sure?not?to?have?more?than?one?of?those?models?in?the?path?!!?（restart?Matlab）
%?=======================================================================

%?Model?applied?for?our?GPF?paper.
path（‘./model_for_gpf_paper‘path）;

%?For?this?model?of?real?data?only?the?plot?of?the?discrete?modes?makes?sense.?
%?For?the?other?plots?there‘s?no?ground?truth?to?compare?with?so?they‘re?pointless?!
%path（‘./model_for_real_data‘path）;?????????

%?Linear?model?we?applied?for?Nando‘s?RBPF?paper.
%path（‘./linear_model_for_nandos_paper‘path）;

%?=======================================================================
%?????INITIALISATION
%?=======================================================================
par?=?initParameters;

%?=============================================================================
%?????READ?DATA?FROM?FILE
%?=============================================================================
[Tuxyz]?=?readData（par）;
S=3;???????????????????????%?First?data?point?that?is?to?be?plotted.
%T?=?270-1+S;???????????????%?Last?entry?we?use?from?the?data?set.

%?=============================================================================
%?????THE?EXPERIMENT
%?=============================================================================
N_min?=?1;?????????????????%?Minimal?number?of?particles.?
N_max?=?128;???????????????%?Maximal?number?of?particles.
runs?=??25;????????????????%?With?each?number?of?particles?we?do?that?many?runs.

%?pf?=?importdata（‘pf-results.dat‘）;
%?upf?=?importdata（‘upf-results.dat‘）;
%?gpf?=?importdata（‘gpf-results.dat‘）;
%?gpf2?=?importdata（‘gpf2-results.dat‘）;????

pf（1）?=?measurePerformance（‘pfalgo‘

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

?????文件???????3151??2003-02-05?14:21??Gaussian?Particle?Filter\algos\gpf2algo.m

?????文件???????2275??2003-02-05?14:17??Gaussian?Particle?Filter\algos\gpfalgo.m

?????文件???????1754??2003-02-05?14:13??Gaussian?Particle?Filter\algos\pfalgo.m

?????文件???????1345??2003-01-29?12:16??Gaussian?Particle?Filter\algos\scaledSymmetricSigmaPoints.m

?????文件???????5324??2003-01-29?16:33??Gaussian?Particle?Filter\algos\ukf.m

?????文件???????3624??2003-02-05?15:42??Gaussian?Particle?Filter\algos\upfalgo.m

?????文件????????853??2002-08-20?15:25??Gaussian?Particle?Filter\core\cvecrep.m

?????文件???????1155??2002-08-20?15:25??Gaussian?Particle?Filter\core\deterministicr.m

?????文件???????1134??2002-08-20?15:25??Gaussian?Particle?Filter\core\multinomialr.m

?????文件???????1401??2002-08-20?15:25??Gaussian?Particle?Filter\core\residualr.m

?????文件???????5644??2005-03-26?16:00??Gaussian?Particle?Filter\demo.m

?????文件???????1736??2003-02-04?22:37??Gaussian?Particle?Filter\general\measurePerformance.m

?????文件???????7512??2005-03-26?15:31??Gaussian?Particle?Filter\general\plotNiceFigures.m

?????文件????????716??2005-03-26?15:41??Gaussian?Particle?Filter\general\readData.m

?????文件????????943??2003-02-05?14:05??Gaussian?Particle?Filter\general\sample_trajectory.m

?????文件???????2607??2003-02-05?16:45??Gaussian?Particle?Filter\linear_model_for_nandos_paper\computeModeTransitionMatrix.m

?????文件???????9482??2005-03-26?15:03??Gaussian?Particle?Filter\linear_model_for_nandos_paper\ffun.m

?????文件??????23960??2005-03-26?15:38??Gaussian?Particle?Filter\linear_model_for_nandos_paper\gpf-results.dat

?????文件??????23960??2005-03-26?15:38??Gaussian?Particle?Filter\linear_model_for_nandos_paper\gpf2-results.dat

?????文件?????????63??2003-02-03?15:16??Gaussian?Particle?Filter\linear_model_for_nandos_paper\hfun.m

?????文件???????2192??2005-03-26?15:03??Gaussian?Particle?Filter\linear_model_for_nandos_paper\initParameters.m

?????文件??????23960??2005-03-26?15:38??Gaussian?Particle?Filter\linear_model_for_nandos_paper\pf-results.dat

?????文件????????133??2003-02-01?02:43??Gaussian?Particle?Filter\linear_model_for_nandos_paper\sample_prior_x.m

?????文件????????128??2002-08-29?14:52??Gaussian?Particle?Filter\linear_model_for_nandos_paper\sample_prior_z.m

?????文件????????225??2003-01-29?16:30??Gaussian?Particle?Filter\linear_model_for_nandos_paper\sample_x.m

?????文件????????217??2005-03-26?14:12??Gaussian?Particle?Filter\linear_model_for_nandos_paper\sample_z.m

?????文件??????15500??2005-03-26?15:04??Gaussian?Particle?Filter\linear_model_for_nandos_paper\trajectory.dat

?????文件??????23960??2005-03-26?15:38??Gaussian?Particle?Filter\linear_model_for_nandos_paper\upf-results.dat

?????文件?????????87??2005-03-26?15:03??Gaussian?Particle?Filter\linear_model_for_nandos_paper\ut_ffun.m

?????文件?????????59??2003-01-19?19:40??Gaussian?Particle?Filter\linear_model_for_nandos_paper\ut_hfun.m

............此處省略36個文件信息