diff options
Diffstat (limited to 'apps/position_estimator_mc/kalman_dlqe2.m')
-rwxr-xr-x | apps/position_estimator_mc/kalman_dlqe2.m | 9 |
1 files changed, 9 insertions, 0 deletions
diff --git a/apps/position_estimator_mc/kalman_dlqe2.m b/apps/position_estimator_mc/kalman_dlqe2.m new file mode 100755 index 000000000..2a50164ef --- /dev/null +++ b/apps/position_estimator_mc/kalman_dlqe2.m @@ -0,0 +1,9 @@ +function [x_aposteriori] = kalman_dlqe2(dt,k1,k2,k3,x_aposteriori_k,z) + st = 1/2*dt^2; + A = [1,dt,st; + 0,1,dt; + 0,0,1]; + C=[1,0,0]; + K = [k1;k2;k3]; + x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k); +end
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