Hi i'm trying to run this function in simulink using matlab function block but i'm encountering this errors can anyone help me regarding this?

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Rajavardhan
Rajavardhan 2015-3-14
回答： Ryan Livingston 2015-3-15
function y = LINEARKALMAN(u)
V=10;
if(u(7)==0)
X=[0.1807;0];
Pxx=[0.01 0;0 0.01];
else
X=X2;
Pxx=Pxy;
end
theta=X(1);
phi=X(2);
A=[0,- u(6)*cos(phi) - u(5)*sin(phi);u(6)*cos(phi)*(tan(theta)^2 + 1) + u(5)*sin(phi)*(tan(theta)^2 + 1), u(5)*cos(phi)*tan(theta) - u(6)*sin(phi)*tan(theta)];
B=[0,cos(phi),-sin(phi);1, sin(phi)*tan(theta), cos(phi)*tan(theta)];
C=[cos(theta) + (100*V*u(5)*cos(theta))/981,0; sin(phi)*sin(theta) - (100*V*(u(4)*cos(theta) + u(6)*sin(theta)))/981, -cos(phi)*cos(theta); cos(phi)*sin(theta), cos(theta)*sin(phi) + (100*V*u(5)*sin(phi))/981];
R=[0.0016 0 0;0 0.0016 0;0 0 0.0016];
Q=[0.001 0;0 0.001];
phik=expm(A.*0.01);
v=[u(4);u(5);u(6)];
Y=[u(1);u(2);u(3)];
X1=phik*X+B*v;
Inno=Y-C*X1;
M=(phik*Pxx*phik')+Q;
S=(C*M*C')+R;
K=(M*C')/S;
X2=X1+K*Inno;
Pxy=(eye(2)-K*C)*M;
y=X2;
end

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回答（1 个）

Ryan Livingston
Ryan Livingston 2015-3-15
As the error states, the variables X2 and Pxy are undefined before they are used. They need to have definitions, i.e. assignments to them, or be passed as inputs to the MATLAB Function Block in order to be used on the RHS of an assignment.

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