simulink中的UWB和6轴imu融合算法程序

这是在simulink数据中的UWB测距和6轴imu传感器的融合算法，包括simulink程序和详细的实验报告，还有两篇算法中用到的刚体变换和卡尔曼滤波的pdf资料，非常详细。

function count = cprintf（styleformatvarargin）
% CPRINTF displays styled formatted text in the Command Window
%
% Syntax:
%    count = cprintf（styleformat...）
%
% Description:
%    CPRINTF processes the specified text using the exact same FORMAT
%    arguments accepted by the built-in SPRINTF and FPRINTF functions.
%
%    CPRINTF then displays the text in the Command Window using the
%    specified style argument. The accepted styles are those used for
%    Matlab‘s syntax highlighting （see: File / Preferences / Colors / 
%    M-file Syntax Highlighting Colors） and also user-defined colors.
%
%    The possible pre-defined style names are:
%
%       ‘Text‘                 - default: black
%       ‘Keywords‘             - default: blue
%       ‘Comments‘             - default: green
%       ‘Strings‘              - default: purple
%       ‘UnterminatedStrings‘  - default: dark red
%       ‘SystemCommands‘       - default: orange
%       ‘Errors‘               - default: light red
%       ‘Hyperlinks‘           - default: underlined blue
%
%       ‘Black‘‘Cyan‘‘Magenta‘‘Blue‘‘Green‘‘Red‘‘Yellow‘‘White‘
%
%    style beginning with ‘-‘ or ‘_‘ will be underlined. For example:
%          ‘-Blue‘ is underlined blue like ‘Hyperlinks‘;
%          ‘_Comments‘ is underlined green etc.
%
%    style beginning with ‘*‘ will be bold （R2011b+ only）. For example:
%          ‘*Blue‘ is bold blue;
%          ‘*Comments‘ is bold green etc.
%    Note: Matlab does not currently support both bold and underline
%          only one of them can be used in a single cprintf command. But of
%          course bold and underline can be mixed by using separate commands.
%
%    style also accepts a regular Matlab RGB vector that can be underlined
%    and bolded: -[011] means underlined cyan ‘*[100]‘ is bold red.
%
%    style is case-insensitive and accepts unique partial strings just
%    like handle property names.
%
%    CPRINTF by itself without any input parameters displays a demo
%
% Example:
%    cprintf;   % displays the demo
%    cprintf（‘text‘   ‘regular black text‘）;
%    cprintf（‘hyper‘  ‘followed %s‘‘by‘）;
%    cprintf（‘key‘    ‘%d colored‘ 4）;
%    cprintf（‘-comment‘‘& underlined‘）;
%    cprintf（‘err‘    ‘elements\n‘）;
%    cprintf（‘cyan‘   ‘cyan‘）;
%    cprintf（‘_green‘ ‘underlined green‘）;
%    cprintf（-[101] ‘underlined magenta‘）;
%    cprintf（[10.50]‘and multi-\nline orange\n‘）;
%    cprintf（‘*blue‘  ‘and *bold* （R2011b+ only）\n‘）;
%    cprintf（‘string‘）;  % same as fprintf（‘string‘） and cprintf（‘text‘‘string‘）
%
% Bugs and suggestions:
%    Please send to Yair Altman （altmany at gmail dot com）
%
% Warning:
%    This code heavily relies on undocumented and unsupported Matlab
%    functionality. It works on Matlab 7+ but use at your own risk!
%
%    A technical description of the implementation can be found at:
%    http://UndocumentedMatlab.com/blog/cprintf/
%
% Limi

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2018-08-26 13:51  demo_for_kalmanFilter-master\
     文件         652  2018-08-26 13:51  demo_for_kalmanFilter-master\README.md
     文件      459603  2018-08-26 13:51  demo_for_kalmanFilter-master\ReadMe.docx
     目录           0  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\
     文件       24446  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\cprintf.m
     文件        1162  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\ekf_err_ins_f.m
     文件         552  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\ekf_err_uwb_h.m
     文件        1333  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\ekf_ins_f.m
     文件         542  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\ekf_uwb_h.m
     目录           0  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\ekfukf\
     文件        6412  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\ekfukf\Contents.m
     文件        6193  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\ekfukf\Contents.m~
     文件       18007  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\ekfukf\License.txt
     文件        1071  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\ekfukf\Release_Notes.txt
     文件        1070  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\ekfukf\Release_Notes.txt~
     文件        1657  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\ekfukf\cd_transform.m
     文件        1580  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\ekfukf\ckf_packed_pc.m
     文件        1870  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\ekfukf\ckf_predict.m
     文件        1340  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\ekfukf\ckf_transform.m
     文件        2193  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\ekfukf\ckf_update.m
     文件        3408  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\ekfukf\crts_smooth.m
     目录           0  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\ekfukf\demos\
     目录           0  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\ekfukf\demos\bot_demo\
     文件         991  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\ekfukf\demos\bot_demo\bot_d2h_dx2.m
     文件       13168  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\ekfukf\demos\bot_demo\bot_demo_all.m
     文件        2490  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\ekfukf\demos\bot_demo\bot_demo_loop.m
     文件         804  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\ekfukf\demos\bot_demo\bot_dh_dx.m
     文件         585  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\ekfukf\demos\bot_demo\bot_h.m
     文件        8121  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\ekfukf\demos\bot_demo\ckfs_bot_demo.m
     文件        8389  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\ekfukf\demos\bot_demo\ekfs_bot_demo.m
     文件        8173  2018-08-26 13:51  demo_for_kalmanFilter-master\demo_kf\ekfukf\demos\bot_demo\ghkfs_bot_demo.m
............此处省略126个文件信息