Extented kalman filter implementation

1 次查看（过去 30 天）
Valeria Leto
Valeria Leto 2020-3-7
编辑： Valeria Leto 2020-3-7
Hi! I would like to implement the EKF of this system in matlab
the state variable are north and east coordinates, module of velocity, angle with north axis. I tried to write f and F functions. Is this implementation correct? I'm not sure about xnew(3) and xnew(4). I attached the whole code behind. Then..how can I assess the filter performance from a graph? Thanks!
function xnew = f(dT, xold)
xnew = [ xold(1) + dT*xold(3)*cos(xold(4));
xold(2) + dT*xold(3)*sin(xold(4));
xold(3);
atan2(xold(2) + dT*xold(3)*sin(xold(4)), xold(1) + dT*xold(3)*cos(xold(4)));];
end
function jacobian = F(dT, xold)
jacobian = [ 1 0 dT*cos(xold(4)) -dT*xold(3)*sin(xold(4));
0 1 dT*sin(xold(4)) dT*xold(3)*cos(xold(4));
0 0 1 0;
0 0 0 1 ];
end

请先登录，再回答此问题。

回答（0 个）

类别

在 Help Center 和 File Exchange 中查找有关 Directed Graphs 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