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模拟小车，激光雷达导航定位，采用卡尔曼滤波实现，激光雷达检测路标实现

% 修改完成最终版本，按照论文SLAM建模
% 普通SLAM方法

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2018-03-27 00:03  ekfslam_3d_normal\
     文件          51  2018-03-27 00:03  ekfslam_3d_normal\aaa_shuoming.m
     文件         520  2018-03-27 00:03  ekfslam_3d_normal\add_observation_noise.m
     文件        3568  2018-03-27 00:03  ekfslam_3d_normal\augment.m
     文件         524  2018-03-27 00:03  ekfslam_3d_normal\augment_associate_known.m
     文件         562  2018-03-27 00:03  ekfslam_3d_normal\build_map.m
     文件         322  2018-03-27 00:03  ekfslam_3d_normal\changes.md
     文件        1168  2018-03-27 00:03  ekfslam_3d_normal\compute_steering.m
     文件        2883  2018-03-27 00:03  ekfslam_3d_normal\configfile.m
     文件        1242  2018-03-27 00:03  ekfslam_3d_normal\constrain_terrain.m
     文件        3166  2018-03-27 00:03  ekfslam_3d_normal\Crater_initialization.m
     文件        1788  2018-03-27 00:03  ekfslam_3d_normal\data_associate.m
     文件         948  2018-03-27 00:03  ekfslam_3d_normal\data_associate_known.m
     文件      167778  2018-03-27 00:03  ekfslam_3d_normal\dxv.mat
     文件        8841  2018-03-27 00:03  ekfslam_3d_normal\ekfslam_sim.m
     文件     1082909  2018-03-27 00:03  ekfslam_3d_normal\figure 4.fig
     文件       54416  2018-03-27 00:03  ekfslam_3d_normal\frontend.fig
     文件        5629  2018-03-27 00:03  ekfslam_3d_normal\frontend.m
     文件        1470  2018-03-27 00:03  ekfslam_3d_normal\get_observations.m
     文件         533  2018-03-27 00:03  ekfslam_3d_normal\IMU_noise.m
     文件        1355  2018-03-27 00:03  ekfslam_3d_normal\jacb_com.m
     文件         714  2018-03-27 00:03  ekfslam_3d_normal\KF_cholesky_update.m
     文件        1470  2018-03-27 00:03  ekfslam_3d_normal\KF_IEKF_update.m
     文件         652  2018-03-27 00:03  ekfslam_3d_normal\KF_simple_update.m
     文件         832  2018-03-27 00:03  ekfslam_3d_normal\line_plot_conversion.m
     文件        1172  2018-03-27 00:03  ekfslam_3d_normal\main.m
     文件        4430  2018-03-27 00:03  ekfslam_3d_normal\observed_jac.m
     文件         416  2018-03-27 00:03  ekfslam_3d_normal\observe_heading.m
     文件         838  2018-03-27 00:03  ekfslam_3d_normal\observe_model.m
     文件         323  2018-03-27 00:03  ekfslam_3d_normal\omega2G.m
     文件      352362  2018-03-27 00:03  ekfslam_3d_normal\path.mat
............此处省略23个文件信息