《卡尔曼滤波原理及应用-MATLAB仿真》随书程序

《卡尔曼滤波原理及应用-MATLAB仿真》随书程序，作者 黄小平 王岩

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 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
----------- ---------  ---------- -----  ----
     目录           0  2018-04-22 16:19  《卡尔曼滤波原理及应用-MATLAB仿真》程序\
     文件      107125  2015-07-06 21:39  《卡尔曼滤波原理及应用-MATLAB仿真》程序\《卡尔曼滤波原理及应用-MATLAB仿真》封面.jpg
     文件      653116  2015-07-07 17:42  《卡尔曼滤波原理及应用-MATLAB仿真》程序\卡尔曼滤波原理及应用（简介）.pdf
     目录           0  2015-07-11 10:32  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第一章\
     文件          85  2015-07-11 10:35  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第一章\说明.txt
     目录           0  2015-07-11 14:42  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第七章\
     目录           0  2015-07-11 10:32  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第七章\7.2.1\
     文件        1802  2015-06-25 18:43  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第七章\7.2.1\sfuntmpl.m
     目录           0  2015-07-11 14:30  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第七章\7.3.1\
     文件       17873  2014-06-08 09:56  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第七章\7.3.1\DistanceMessurement.mdl
     文件        2001  2015-07-11 14:37  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第七章\7.3.1\SimuKalmanFilter.m
     目录           0  2015-07-11 14:46  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第七章\7.3.3\
     文件        1203  2015-06-25 18:55  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第七章\7.3.3\DeviationAnalysis.m
     文件        1906  2015-07-11 14:46  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第七章\7.3.3\KalmanFilter.m
     文件        1535  2015-06-25 18:47  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第七章\7.3.3\SimuStateFunction.m
     文件       27157  2014-06-09 16:25  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第七章\7.3.3\System_TargetTracking_KF_Simulation.mdl
     文件         174  2015-07-11 14:46  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第七章\7.3.3\Xkalman.mat
     文件         224  2015-07-11 14:46  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第七章\7.3.3\Xstate.mat
     文件         171  2015-07-11 14:46  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第七章\7.3.3\Zobserv.mat
     目录           0  2015-07-11 10:32  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第七章\7.4.1\
     文件        1188  2015-06-25 18:55  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第七章\7.4.1\DataAnalysis.m
     文件        1957  2015-07-11 14:50  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第七章\7.4.1\EKF.m
     文件        1358  2015-06-25 18:50  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第七章\7.4.1\GetDistanceFunction.m
     文件        1383  2015-06-25 18:50  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第七章\7.4.1\SimuStateFunction.m
     文件       23484  2014-06-16 14:19  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第七章\7.4.1\System_TargetTracking_EKF_Simulation.mdl
     文件          71  2015-06-25 18:49  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第七章\7.4.1\ffun.m
     文件          67  2015-06-25 18:50  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第七章\7.4.1\hfun.m
     目录           0  2015-07-11 14:52  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第七章\7.4.2\
     文件        1190  2015-06-25 18:55  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第七章\7.4.2\DataAnalysis.m
     文件        1399  2015-06-25 18:52  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第七章\7.4.2\GetDistanceFunction.m
     文件        1476  2015-06-25 18:55  《卡尔曼滤波原理及应用-MATLAB仿真》程序\第七章\7.4.2\SimuStateFunction.m
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