DetectionFilterUnnormalized:
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Create a unnormalized detection filter for a fully measured system.
The filter is of the form
y[k] = c*x[k]
x[k+1] = a*x[k] + D*(m[k] - c*x[k]) + b*u[k]
r[k] = m[k] - c*x[k]
This filter is unnormalized.
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Form:
[r, x] = DetectionFilterUnnormalized( d, m, u, x )
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Inputs
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d (:) Detection filter
.g plant
.d gain matrix
m Measurements
u Inputs
x State
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Outputs
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r Residuals
x State
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Children: