function?[Xk?Pk]?=?my_srukf（Xk_1Pk_1Zk?Pw?PvF）
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%??函數功能：?SRUKF濾波器
%??適用范圍：?測量線性、噪聲加性時的SRUKF?濾波
%?INPUT
%???????x1：??系統狀態
%???????T：???捷聯矩陣計算值
%???????Tbn：?捷聯矩陣真實值
%???????fp：??比力在計算坐標系內的投影?
%???????Pw：??過程噪聲
%???????Pv：??量測噪聲
%???????phi：?計算的緯度?
%?OUTPUT
%???????Xk:???濾波后的狀態
%???????Pk:???狀態協方差陣
%
%?注：里邊的參數選的比較特殊：alpha?=?1;?
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%——參數計算——%%%%%%%%%%%%%%%%%%
alpha?=?1;
beta?=?2;
kappa?=-5;
L?=?length（Xk_1）;
T=length（Zk）;
lambda?=?alpha^2*（L+kappa）?-?L;
Wm?=?repmat（1/（2*（L+lambda））?2*L+1?1）;
Wm（11）?=?lambda/（L+lambda）;
Wc?=?Wm;
Wc（11）?=（?Wm（11）?+?（1-alpha^2+beta））;
sqWc?=?sqrt（Wc）;

%%%%%%%%%%%——時間更新——%%%%%%%%%%%%

%?step?1:?計算時間更新的sigma點

g

?屬性????????????大小?????日期????時間???名稱
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?????文件???????2087??2012-12-10?11:40??my_srukf.m

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?????????????????2087????????????????????1