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資源簡介

一個BOT的四維模型,內有容積卡爾曼濾波算法(CKF)和本人所提的嵌入式容積卡爾曼濾波(ECKF)算法的比較

資源截圖

代碼片段和文件信息

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%?Bearing-only?tracking?model?for?tesing?the?cubature?Kalman?filter?(CKF)?
%?and?the?embedded?cubature?Kalman?filter?(ECKF)
%?
%?Version:?20140307
%?
%?
%?@All?rights?reserved?by?Xin-Chun?Zhang?from?UESTC
%?You?can?use?the?code?for?learning?teaching?and?education?do?not?use?it
%?for?commerical?purpose!
%?
%?
%?
%?參考:
%?[1]?I.Arasaratnam?S.Haykin.?Cubature?Kalman?Filters[J].?IEEE?Trans.?Automat.
%?????Control?2009?54(6)
%?[2]?張鑫春等.?一種用于目標跟蹤的嵌入式容積卡爾曼濾波器設計[C].?綜合電子技術教
%?????育部重點實驗室2012學術年會論文集,2012
%?[3]?張鑫春?等.?“均方根嵌入式容積卡爾曼濾波“?控制理論與應用?2013?30(9).?????????
%?[4]?Xin-Chun?Zhang?Yun-Long?Teng.?A?new?derivation?of?the?cubature
%?????Kalman?filters?[J].?Asian?Journal?of?Control?2013?Accept
%?[5]?Xin-Chun?Zhang?A?novel?cubature?Kalman?filter?for?nonlinear?state
%?????estimation?[C].?52nd?IEEE?Conference?on?Decision?and?Control
%?????Florence?Italy?2013
%?[6]?Zhang?Xin-Chun?Guo?Cheng-Jun?Cubature?Kalman?filters:?Derivation
%?????and?extension?[J].?Chinese?Physics?B?2013?22(12)
%?[7]?Xin-Chun?Zhang.?Cubature?information?filter?using?embedded?and
%?????high-degree?cubature?rules?[J].?Circuits?Systems?and?Signal
%?????processing?Accept(2013)/Online(2014)
%
%?
%?
%?
%
%??????????????????????By?Xin-Chun?Zhang?
%?????????????????E-mail:irving_zhang@163.com
%???????University?of?Electronic?Science?and?Technology?of?China
%%?----------------------------------------------------------------

clear?all;
close?all;
clc;

h?=?waitbar(0?‘1‘?‘Name‘?‘Please?wait?...‘?‘Windowstyle‘?‘modal‘?...
????‘CreateCancelBtn‘?‘setappdata(gcbf‘‘canceling‘‘1)‘);
setappdata(h?‘canceling‘?0);

%?Global?variables
global?Q?R?fai?gama?kesi?w?n?m?w1?w2?kesi_im3?b?;

Q?=?0.0005^2;?%?process?noise
R?=?0.001^2;?%?measurement?noise
fai?=?[1?1?0?0;?0?1?0?0;?0?0?1?1;?0?0?0?1];
gama?=?[0.5?0;?1?0;?0?0.5;?0?1];
n?=?4;?%dimension?of?the?system
m?=?2?*?n;?%?Number?of?cubature?points

%?3rd-degree?CKF/SCKF
w?=?1?/?m;?%?Weight
kesi1?=?eye(n);
kesi2?=?-eye(n);
kesi?=?[kesi1?kesi2]?*?(sqrt(m?/?2));?%?Construction?of?the?cubature?points

%?3rd-degree?ECKF
delta?=?1;
w1?=?1?/?(2^(n?+?1)?*?delta);
w2?=?1?-?1?/?(2?*?delta);
yitao?=?zeros(n?1);
yitak1?=?[1?1?1?1;?1?1?1?-1;?1?1?-1?-1;?1?-1?-1?-1;?1?-1?1?1;?1?-1?-1?1;?...
????1?-1?1?-1;?1?1?-1?1]‘?*?sqrt(2?*?delta);
kesi_im3?=?[yitak1?-yitak1?yitao];
[a?b]?=?size(kesi_im3);

num?=?30;?%?steps?of?the?simulation

xarray_sum?=?zeros(n?num?+?1);

xhatarray_sum?=?zeros(n?num?+?1);
error_avg?=?zeros(n?num?+?1);

xhatarray_S_sum?=?zeros(n?num?+?1);
error_S_avg?=?zeros(n?num?+?1);

xhatarray_5_sum?=?zeros(n?num?+?1);
error_5_avg?=?zeros(n?num?+?1);

xhatarray_I_sum?=?zeros(n?num?+?1);
error_I_avg?=?zeros(n?num?+?1);

len?=?100;
for?iter?=?1?:?len
????if?getappdata(h?‘canceling‘)
????????iter?=?iter?-?1;
????????break;
????end
????waitbar(iter?/?len?h?sprintf(‘%

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

?????文件???????4846??2014-03-07?22:36??BOT\Main.m

?????文件???????1556??2014-03-07?22:23??BOT\Third_degree_CKF.m

?????文件???????2401??2014-03-07?22:26??BOT\Third_degree_ECKF.m

?????目錄??????????0??2014-03-07?22:37??BOT

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

?????????????????8803????????????????????4


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