Revision 1263, 1.0 kB
(checked in by peroutka, 14 years ago)
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1 | /************************************ |
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2 | Extended Kalman Filter |
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3 | Matrix operations |
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4 | |
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5 | V. Smidl |
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6 | |
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7 | Rev. 30.8.2010 |
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8 | |
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9 | 30.8.2010 Prvni verze |
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10 | |
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11 | *************************************/ |
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12 | |
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13 | #define qAU 14 |
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14 | #define qD 14 |
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15 | #define qCh 14 |
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16 | |
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17 | #define int16 int // short int |
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18 | #define int32 long // int |
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19 | |
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20 | /* Matrix multiply Full matrix by upper diagonal matrix; */ |
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21 | extern void mmultACh(int16 *m1, int16 *up, int16 *result, unsigned int16 rows, unsigned int16 columns); |
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22 | |
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23 | /* perform Householder update of Ch matrix using PSI*Ch , Q, */ |
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24 | extern void householder(int16 *Ch /*= int16 *PSICh*/, int16 *Q, unsigned int16 dimx); |
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25 | |
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26 | /* perform Givens update of Ch matrix using PSI*Ch , Q, */ |
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27 | extern void givens(int16 *Ch /*= int16 *PSICh*/, int16 *Q, unsigned int16 dimx); |
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28 | |
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29 | /* perform Carlson update of Ch matrix using difz, R and xp, for size dimx*/ |
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30 | extern void carlson(int16 *difz, int16 *xp, int16 *Ch, int16 *R, unsigned int16 dimy, unsigned int16 dimx ); |
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