Error in array dimensions!

1 次查看（过去 30 天）
GTA
GTA 2018-10-30
评论： Matt J 2018-10-31
I'm implementing the Unscented Kalman Filter, and I can not figure out how to solve the kalman gain matrix error. Can anyone help?
This is the main code ...
clear
clc
load('dados.mat')
y_total = Dados;
% y(:,1)=10^6*y_total(:,1);
y(:,2)=10^6*y_total(:,2);
y(:,3)=10^6*y_total(:,3);
betah = 0.009;
muh = 3.6530e-005;
alphah = 0.033;
deltah = 0.09;
mui = 0.38;
mun = 0.002;
betai = 0.015;
lambdai = 0.36;
lambdah = 0.0006;
H=0.000000000000000000000000000000000000000000001;
x(:,1) = [208701300 326*10e6 217*10e6 44000000 22000000 lambdah]';
f=@(x)[-betah*H*x(5)*x(1)-muh*H*x(1)+x(6)*H*x(1)+x(1)+x(6)*H*(x(3)+x(2));
betah*H*x(5)*x(1)+x(2)-muh*H*x(2)-alphah*H*x(2)-deltah*H*x(2);
deltah*H*x(2)+x(3)-muh*H*x(3);
x(4)-betai*H*x(2)*x(4)+lambdai*H*x(4)-mui*H*x(4)-mun*H*x(4);
x(5)+betai*H*x(2)*x(4)+lambdai*H*x(5)-mui*H*x(5)-mun*H*x(5);
x(6)];
h=@(x)[-betah*H*x(5)*x(1)-muh*H*x(1)+x(2)+x(3);
(-deltah*H-muh*H-alphah*H)*x(2)+betah*H*x(1)*x(5);
deltah*H*x(2)-muh*H*x(3)];
Q = [10 0 0 0 0 0;
0 10 0 0 0 0;
0 0 10 0 0 0;
0 0 0 15 0 0;
0 0 0 0 33 0;
0 0 0 0 0 18];
R = [.1 0 0;
0 .3 0 ;
0 0 .1];
P(:,:,1) = 1e7*eye(6);
n = 6; %entradas
m = 3; %saídas
steps=38;
fXis = zeros(n, 2*n+1);
hXis = zeros(m, 2*n+1);
x_pred(:,1) = x;
P_pred(:,:,1) = P;
Pxz(:,:,2*n+1) = zeros(n, m);
% K(:,:,2*n+1) = zeros(n, m);
for s = 2:steps
%
[Xis, W] = SigmaPoints(x_pred(:,s-1),P_pred(:,:,s-1),0);
for k = 1:2*n+1
fXis(:, k) = f(Xis(:,k));
end
[xp, Pp] = UT(fXis, W, Q);
for k = 1:2*n+1
hXis(:, k) = h(Xis(:,k));
end
[zp, Pz] = UT(hXis, W, R);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% K(:,:,2*n+1) = zeros(n, m);
for k = 1:2*n+1
Pxz(:,:,k) = Pxz(:,:,k)+ W(k)*((fXis(:,k) - xp)*(hXis(:,k) - zp)');
end
K(:,:,s) = Pxz(:,:,s)/Pz;
x_pred(:,s)= xp + K(:,:,s)*(y_total(s,:).' - zp);
P_pred(:,:,s)= Pp - K(:,:,s)*Pz*K(:,:,s)';
end
The error that appears
Index exceeds matrix dimensions.
Error in UKF_Lambdah_2 (line 81)
K(:,:,s) = Pxz(:,:,s)/Pz;

请先登录，再回答此问题。

回答（1 个）

Matt J
Matt J 2018-10-30
编辑：Matt J 2018-10-30
Pxz(:,:,s) makes no sense because it has only 13 layers, yet s runs up to 38.
  2 个评论
GTA
GTA 2018-10-30
Because in reality I would like to run for every k = 1: 38, 2n + 1 sigma points. So not to repeat the k, since it was already using within the second for I changed by s. But since I'm not a programmer, I think I did a lot wrong. How could I execute this idea correctly?
Matt J
Matt J 2018-10-31
Only you know what is correct, because only you know what the code is supposed to do.

请先登录，再进行评论。

类别

在 Help Center 和 File Exchange 中查找有关 Statistics and Machine Learning Toolbox 的更多信息

标签

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by