diff options
Diffstat (limited to 'src/modules/position_estimator_mc/positionKalmanFilter1D.m')
-rwxr-xr-x | src/modules/position_estimator_mc/positionKalmanFilter1D.m | 19 |
1 files changed, 19 insertions, 0 deletions
diff --git a/src/modules/position_estimator_mc/positionKalmanFilter1D.m b/src/modules/position_estimator_mc/positionKalmanFilter1D.m new file mode 100755 index 000000000..144ff8c7c --- /dev/null +++ b/src/modules/position_estimator_mc/positionKalmanFilter1D.m @@ -0,0 +1,19 @@ +function [x_aposteriori,P_aposteriori]=positionKalmanFilter1D(A,B,C,x_aposteriori_k,P_aposteriori_k,u,z,gps_update,Q,R,thresh,decay) +%prediction + x_apriori=A*x_aposteriori_k+B*u; + P_apriori=A*P_aposteriori_k*A'+Q; + if abs(u)<thresh + x_apriori(2)=decay*x_apriori(2); + end + %update + if gps_update==1 + y=z-C*x_apriori; + S=C*P_apriori*C'+R; + K=(P_apriori*C')/S; + x_aposteriori=x_apriori+K*y; + P_aposteriori=(eye(size(P_apriori))-K*C)*P_apriori; + else + x_aposteriori=x_apriori; + P_aposteriori=P_apriori; + end +end |