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Revision 1436, 0.6 kB
(checked in by vahalam, 13 years ago)
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pridani a uprava lqg s hyperstavem viz clanek Kim2006
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| 1 | function [x_k, P_k] = extKF4(x, y, u, pre, A, C, P, Q, R) |
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| 2 | a = 0.9898; |
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| 3 | b = 0.0072; |
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| 4 | c = 0.0361; |
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| 5 | d = 1.0; |
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| 6 | e = 0.0149; |
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| 7 | dt = 0.000125; |
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| 8 | |
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| 9 | Pp = A*P*A' + Q; |
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| 10 | S = C*Pp*C' + R; |
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| 11 | K = Pp*C'/S; |
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| 12 | P_k = Pp - K*C*Pp; |
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| 13 | |
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| 14 | xp = zeros(14,1); |
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| 15 | xp(1) = a*x(1) + b*x(3)*sin(x(4)) + c*u(1); |
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| 16 | xp(2) = a*x(2) - b*x(3)*cos(x(4)) + c*u(2); |
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| 17 | xp(3) = d*x(3) + e*(x(2)*cos(x(4)) - x(1)*sin(x(4))); |
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| 18 | xp(4) = x(4) + dt*x(3); |
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| 19 | xp(5:14) = pre; |
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| 20 | |
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| 21 | x_k = xp + K*(y - xp(1:2)); |
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| 22 | |
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| 23 | %max x(14) = pi^2/3 ... variance of uniform -pi,pi |
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| 24 | % if(x_k(14) > pi^2/3) |
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| 25 | % x_k(14) = pi^2/3; |
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| 26 | % end |
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| 27 | end |
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