• 大小: 267KB
    文件类型: .zip
    金币: 1
    下载: 0 次
    发布日期: 2021-05-14
  • 语言: Matlab
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资源简介

Kalman滤波Matlab工具箱,包含有关Kalman滤波的一些函数,包含一个简单的目标跟踪仿真程序

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代码片段和文件信息

function [FHQRinitx initV] = AR_to_SS(coef C y)
%
% Convert a vector auto-regressive model of order k to state-space form.
% [FHQR] = AR_to_SS(coef C y)

% X(i) = A(1) X(i-1) + ... + A(k) X(i-k+1) + v where v ~ N(0 C)
% and A(i) = coef(::i) is the weight matrix for i steps ago.
% We initialize the state vector with [y(:k)‘ ... y(:1)‘]‘ since
% the state vector stores [X(i) ... X(i-k+1)]‘ in order.

[s s2 k] = size(coef); % s is the size of the state vector
bs = s * ones(1k); % size of each block

F = zeros(s*k);
for i=1:k
   F(block(1bs) block(ibs)) = coef(::i);
end
for i=1:k-1
  F(block(i+1bs) block(ibs)) = eye(s);
end

H = zeros(1*s k*s);
% we get to see the most recent component of the state vector 
H(block(1bs) block(1bs)) = eye(s); 
%for i=1:k
%  H(block(1bs) block(ibs)) = eye(s);
%end

Q = zeros(k*s);
Q(block(1bs) block(1bs)) = C;

R = zeros(s);

initx = zeros(k*s 1);
for i=1:k
  initx(block(ibs)) = y(: k-i+1); % concatenate the first k observation vectors
end

initV = zeros(k*s); % no uncertainty about the state (since perfectly observable)

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2006-08-25 17:39  KalmanAll\
     目录           0  2006-08-25 17:38  KalmanAll\Kalman\
     文件        1107  2002-05-29 08:59  KalmanAll\Kalman\AR_to_SS.m
     文件         425  2002-05-29 08:59  KalmanAll\Kalman\convert_to_lagged_form.m
     文件         354  2002-05-29 08:59  KalmanAll\Kalman\ensure_AR.m
     文件        1045  2002-05-29 08:59  KalmanAll\Kalman\eval_AR_perf.m
     文件        2899  2002-05-29 08:59  KalmanAll\Kalman\kalman_filter.m
     文件        2392  2002-11-01 16:32  KalmanAll\Kalman\kalman_forward_backward.m
     文件        1584  2002-05-29 08:59  KalmanAll\Kalman\kalman_smoother.m
     文件        1840  2002-05-29 08:59  KalmanAll\Kalman\kalman_update.m
     文件        1022  2002-10-23 08:17  KalmanAll\Kalman\learning_demo.m
     文件         819  2002-05-29 08:59  KalmanAll\Kalman\learn_AR.m
     文件         687  2002-05-29 08:59  KalmanAll\Kalman\learn_AR_diagonal.m
     文件        5515  2006-08-24 14:37  KalmanAll\Kalman\learn_kalman.m
     文件         485  2004-06-07 07:39  KalmanAll\Kalman\README.txt
     文件         535  2003-01-18 13:47  KalmanAll\Kalman\README.txt~
     文件        1797  2003-01-24 11:36  KalmanAll\Kalman\sample_lds.m
     文件        1199  2002-05-29 08:59  KalmanAll\Kalman\smooth_update.m
     文件         579  2002-05-29 08:59  KalmanAll\Kalman\SS_to_AR.m
     文件          28  2005-06-08 18:56  KalmanAll\Kalman\testKalman.m
     文件        1960  2003-01-18 14:49  KalmanAll\Kalman\tracking_demo.m
     目录           0  2006-08-25 17:39  KalmanAll\KPMstats\
     文件         267  2005-05-03 13:08  KalmanAll\KPMstats\#histCmpChi2.m#
     文件        1955  2005-04-25 19:29  KalmanAll\KPMstats\beta_sample.m
     文件         199  2005-04-25 19:29  KalmanAll\KPMstats\chisquared_histo.m
     文件        1326  2005-04-25 19:29  KalmanAll\KPMstats\chisquared_prob.m
     文件        1389  2005-04-25 19:29  KalmanAll\KPMstats\chisquared_readme.txt
     文件        2127  2005-04-25 19:29  KalmanAll\KPMstats\chisquared_table.m
     文件        5884  2005-04-25 19:29  KalmanAll\KPMstats\clg_Mstep.m
     文件        1463  2005-04-25 19:29  KalmanAll\KPMstats\clg_Mstep_simple.m
     文件         421  2005-04-25 19:29  KalmanAll\KPMstats\clg_prob.m
............此处省略274个文件信息

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