卡尔曼滤波 Matlab程序

代码为书籍《卡尔曼滤波原理及应用》配套的代码，可用于卡尔曼滤波的学习

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% S函数模版
%  详细原理介绍及中文注释请参考：
%  《卡尔曼滤波原理及应用-MATLAB仿真》，电子工业出版社，黄小平著。
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function [sysx0strts] = sfuntmpl（txuflag）
switch flag
    case 0
        [sysx0strts]=mdlInitializeSizes;
    case 1
        sys=mdlDerivatives（txu）;
    case 2
        sys=mdlUpdate（txu）;
    case 3
        sys=mdlOutputs（txu）;
    case 4
        sys=mdlGetTimeOfNextVarHit（txu）;
    case 9
        sys=mdlTerminate（txu）;
    otherwise
        error（[‘Unhandled flag = ‘num2str（flag）]）;
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function [sysx0strts]=mdlInitializeSizes
sizes = simsizes;
sizes.NumContStates  = 0;
sizes.NumDiscStates  = 0;
sizes.NumOutputs     = 0;
sizes.NumInputs      = 0;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 1; 
sys = simsizes（sizes）;
x0  = []; 
str = [];  
ts  = [0 0];         
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

function sys=mdlDerivatives（txu）
sys = [];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

function sys=mdlUpdate（txu）
sys = [];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

function sys=mdlOutputs（txu）
sys = [];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

function sys=mdlGetTimeOfNextVarHit（txu）
sampleTime = 1;  
sys = t + sampleTime;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

function sys=mdlTerminate（txu）
sys = [];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----

     文件       5183  2015-07-11 11:57  第六章\ImmKalman.m

     文件       1802  2015-06-25 18:43  第七章\7.2.1\sfuntmpl.m

     文件      17873  2014-06-08 09:56  第七章\7.3.1\DistanceMessurement.mdl

     文件       2001  2015-07-11 14:37  第七章\7.3.1\SimuKalmanFilter.m

     文件       1203  2015-06-25 18:55  第七章\7.3.3\DeviationAnalysis.m

     文件       1906  2015-07-11 14:46  第七章\7.3.3\KalmanFilter.m

     文件       1535  2015-06-25 18:47  第七章\7.3.3\SimuStateFunction.m

     文件      27157  2014-06-09 16:25  第七章\7.3.3\System_TargetTracking_KF_Simulation.mdl

     文件        174  2015-07-11 14:46  第七章\7.3.3\Xkalman.mat

     文件        224  2015-07-11 14:46  第七章\7.3.3\Xstate.mat

     文件        171  2015-07-11 14:46  第七章\7.3.3\Zobserv.mat

     文件       1188  2015-06-25 18:55  第七章\7.4.1\DataAnalysis.m

     文件       1957  2015-07-11 14:50  第七章\7.4.1\EKF.m

     文件         71  2015-06-25 18:49  第七章\7.4.1\ffun.m

     文件       1358  2015-06-25 18:50  第七章\7.4.1\GetDistanceFunction.m

     文件         67  2015-06-25 18:50  第七章\7.4.1\hfun.m

     文件       1383  2015-06-25 18:50  第七章\7.4.1\SimuStateFunction.m

     文件      23484  2014-06-16 14:19  第七章\7.4.1\System_TargetTracking_EKF_Simulation.mdl

     文件       1190  2015-06-25 18:55  第七章\7.4.2\DataAnalysis.m

     文件         71  2015-06-25 18:55  第七章\7.4.2\ffun.m

     文件       1399  2015-06-25 18:52  第七章\7.4.2\GetDistanceFunction.m

     文件         66  2015-06-25 18:52  第七章\7.4.2\hfun.m

     文件       1476  2015-06-25 18:55  第七章\7.4.2\SimuStateFunction.m

     文件      23484  2014-06-16 14:17  第七章\7.4.2\System_TargetTracking_UKF_Simulation.mdl

     文件       3216  2015-07-11 14:52  第七章\7.4.2\UKF.m

     文件        198  2015-07-11 14:52  第七章\7.4.2\Xstate.mat

     文件        177  2015-07-11 14:52  第七章\7.4.2\Xukf.mat

     文件        184  2015-07-11 14:52  第七章\7.4.2\Zdist.mat

     文件       1753  2015-07-11 10:43  第三章\3.2.2\main.m

     文件       1751  2015-07-11 10:45  第三章\3.3.2\main.m

............此处省略189个文件信息