function?[xPC]?=?aukf（fstate?x?P?hmeas?z?Q?Rk1C）??
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%??
%?UKF?Unscented?Kalman?Filter?for?nonlinear?dynamic?systems??
%?無損卡爾曼濾波（Unscented?Kalman?Filter）函數，適用于動態非線性系統??
%?for?nonlinear?dynamic?system?（noises?are?assumed?as?additive）:??
%???x_k+1?=?f（x_k）?+?w_k??
%???z_k?=?h（x_k）?+?v_k??
%?w?~?N（0Q）?meaning?w?is?gaussian?noise?with?covariance?Q??
%?v?~?N（0R）?meaning?v?is?gaussian?noise?with?covariance?R??
%?=============================參數說明=================================??
%?Inputs:???
%?fstate??-[function]:?狀態方程f（x）??
%?????x???-?????[vec]:?狀態先驗估計?“a?priori“?state?estimate??
%?????P???-?????[mat]:?方差先驗估計?“a?priori“?estimated?state?covariance??
%?hmeas???-[function]:?量測方程h（x）??
%?????z???-?????

?屬性????????????大小?????日期????時間???名稱
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?????文件???????3203??2019-05-27?15:32??AUKF\aukf.m

?????文件????????413??2019-05-08?16:23??AUKF\sigmas.m

?????文件????????723??2019-05-08?16:38??AUKF\ut.m

?????目錄??????????0??2019-06-14?16:55??AUKF

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?????????????????4339????????????????????4