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Path: Common/Demos/UKF
% A UKF for estimating position, velocity and accelerometer bias. The measurement is the angle to a fixed reference height h above the ground. The state equations are linear but the measurement equation is nonlinear. The UKF allows us to use the latter directly. The name is Rover1D because the measurement is similar to a sextant and the motion is 1 dimensional like a surface rover moving in a straight line. It does not model any real ground vehicle dynamics. ------------------------------------------------------------------------- See also Plot2D, TimeLabl, RK4, UKF ------------------------------------------------------------------------- % -------------------------------------------------------------------------- Copyright (c) 2007 Princeton Satellite Systems, Inc. All rights reserved. --------------------------------------------------------------------------
Common: Estimation/UKF Math: Integration/RK4 Common: Graphics/Plot2D Common: Graphics/TimeLabl
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