matlab coding to s-function level 2 coding.

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Hi,

Using Matlab, i can initialize the particle filter like this:

for i = 1 : N
    xhatplus(:,i) = xhat + sqrt(P) * [randn; randn; randn];
end

Now, i want to use simulink s-function level 2. how should i coding it?

function DoPostPropSetup(block)
  block.Dwork(3).Name = 'xhatplus'; 
  block.Dwork(3).Dimensions      = N*3;
  block.Dwork(3).DatatypeID      = 0;
  block.Dwork(3).Complexity      = 'Real';
  block.Dwork(3).UsedAsDiscState = true;
function InitializeConditions(block)
  block.Dwork(3).Data = ??

Any advise? Thanks.

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Kaustubha Govind 2012-1-31

It depends on what xhat and P stand for in your filter.

dab483 2012-1-31

my coding is something like below:

function DoPostPropSetup(block)

%% Setup Dwork

block.NumDworks = 3;

block.Dwork(1).Name = 'xhat'; %% states

block.Dwork(1).Dimensions = 3;

block.Dwork(1).DatatypeID = 0;

block.Dwork(1).Complexity = 'Real';

block.Dwork(1).UsedAsDiscState = true;

block.Dwork(2).Name = 'P'; %% covariance matrix

block.Dwork(2).Dimensions = 9;

block.Dwork(2).DatatypeID = 0;

block.Dwork(2).Complexity = 'Real';

block.Dwork(2).UsedAsDiscState = true;

N=1000;

block.Dwork(3).Name = 'xhatplus';

block.Dwork(3).Dimensions = N*3;

block.Dwork(3).DatatypeID = 0;

block.Dwork(3).Complexity = 'Real';

block.Dwork(3).UsedAsDiscState = true;

function InitializeConditions(block)

block.Dwork(1).Data = [3e5; -2e4; 1e-3];%%xhat

block.Dwork(2).Data = [1e6;0; 0; 0 ;4e6; 0;0;0;10]; %%P

block.Dwork(3).Data = ??

function Outputs(block)

block.OutputPort(1).Data = block.Dwork(1).Data;%% xhat

%%endfunction

function Update(block)

P=reshape(block.Dwork(2).Data,3,3);

xhatplus=reshape(block.Dwork(3).Data,3,N);

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Answer 1

Kaustubha Govind 2012-2-3

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1 个投票

Oops, just realized that you are asking about the InitializeConditions function, and not Update or Outputs. The initial condition of your state depends on the dynamics of your system or application - it's hard for us to tell what it should be. The only thing that I can say is that it needs to be of size 3000. For example, for zero-initial condition, you can say:

block.Dwork(3).Data = zeros(3, N);

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