function?demo_bearing_only（）
%function?demo_bearing_only
%
%?Demonstrate?the?behaviour?of?an?EKF?UKF?and?naive?particle?filter?for
%?the?bearing-only?target-tracking?problem?as?described?in:?
%
%???N.?Gordon?D.?Salmond?and?A.?F.?M.?Smith?Novel?approach?to?nonlinear
%???and?non-Gaussian?Bayesian?state?estimation?Proc.?Inst.?Elect.?Eng.?F
%???vol.?140?pp.?107-113?1993.
%
%?The?plots?show?variances?of?EKF?（red）?UKF（cyan）?and?particle（blue）?as?well
%?as?the?prior?particle?samples?（green）?and?resampled?posterior?particle?samples?（blue）.
%?The?true?states?and?observations?are?shown?in?black.
%
%?Tim?Bailey?2005.

intro;
h?=?setup_plot;

%?true?states?and?observations
xtrue?=?[-0.05;?0.001;?0.7;?-0.055];
[xactual?zactual]?=?generate_truestates（xtrue）;

%?linear

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

?????文件???????4888??2007-04-29?13:21??demo_bearing_only.m

?????文件???????2337??2005-06-09?16:44??EKF_update.m

?????文件???????1229??2005-04-28?12:59??gauss_likelihood.m

?????文件????????408??2005-04-28?12:59??gauss_samples.m

?????文件????????298??2005-06-09?16:44??KF_update.m

?????文件????????673??2006-07-08?19:39??KF_update_cholesky.m

?????文件?????575460??2008-11-10?10:24??Novel?approach?to?nonlinear_non-Gaussian?Bayesian?state?estimation.pdf

?????文件???????1406??2007-03-02?15:54??numerical_Jacobian.m

?????文件????????594??2005-04-28?12:59??pi_to_pi.m

?????文件?????????37??2016-06-24?11:56??readme.txt

?????文件???????1203??2005-12-08?11:45??sample_mean.m

?????文件????????411??2006-01-27?17:55??sigma_ellipse.m

?????文件???????1017??2006-02-09?13:10??sqrt_posdef.m

?????文件????????338??2005-08-31?13:51??stratified_random.m

?????文件????????795??2005-04-28?12:59??stratified_resample.m

?????文件???????3745??2006-07-12?07:55??unscented_update.m

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

???????????????594839????????????????????16