ReBEL toolkit工具箱

为了学习卡尔曼滤波估计 The purpose of this guide, together with the hopefully well commented code functions and code examples (in 'examples' subdirectory) is to act as a minimal set of documentation to 'get you going' using the ReBEL toolkit. The official documentation for the toolkit will hopefully evolve over time into a more complete reference guide.

function C = addangle（A B）

%  ADDANGLE   Addition function for ‘angle space‘ sigma-points expressed in radians.
%             This needed to deal with the angular discontinuety at +- pi radians.
%
%             C = addangle（AB）
%
%   INPUT
%           A and B  : angles expressed in radians
%   OUTPUT
%           C        : sum C=A+B such that  -pi < C < pi
%

%   Copyright  （c） Rudolph van der Merwe （2002）
%
%   This file is part of the ReBEL Toolkit. The ReBEL Toolkit is available free for
%   academic use only （see included license file） and can be obtained by contacting
%   rvdmerwe@ece.ogi.edu.  Businesses wishing to obtain a copy of the software should
%   contact ericwan@ece.ogi.edu for commercial licensing information.
%
%   See LICENSE （which should be part of the main toolkit distribution） for more
%   detail.

%=============================================================================================

C = A + B;

twopi = 2*pi;

idx1 = C > pi;
idx2 = C < -pi;

C（idx1） = C（idx1） - twopi;
C（idx2） = C（idx2） + twopi;

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

     文件        205  2009-10-16 20:34  ReBEL-0.2.6\ReBEL-0.2.6\.svn\entries

     文件          2  2009-10-16 20:34  ReBEL-0.2.6\ReBEL-0.2.6\.svn\format

     文件       3572  2008-12-22 15:00  ReBEL-0.2.6\ReBEL-0.2.6\Bugfixes

     文件       5506  2008-12-22 15:00  ReBEL-0.2.6\ReBEL-0.2.6\ChangeLog

     文件       1230  2009-10-16 20:34  ReBEL-0.2.6\ReBEL-0.2.6\core\.svn\entries

     文件          2  2009-10-16 20:34  ReBEL-0.2.6\ReBEL-0.2.6\core\.svn\format

     文件       1080  2008-12-22 15:00  ReBEL-0.2.6\ReBEL-0.2.6\core\addangle.m

     文件       1327  2008-12-22 15:00  ReBEL-0.2.6\ReBEL-0.2.6\core\addrelpath.m

     文件      15262  2008-12-22 15:00  ReBEL-0.2.6\ReBEL-0.2.6\core\cdkf.m

     文件        956  2008-12-22 15:00  ReBEL-0.2.6\ReBEL-0.2.6\core\checkdups.m

     文件       1393  2008-12-22 15:00  ReBEL-0.2.6\ReBEL-0.2.6\core\checkstructfields.m

     文件       4655  2008-12-22 15:00  ReBEL-0.2.6\ReBEL-0.2.6\core\consistent.m

     文件       3702  2008-12-22 15:00  ReBEL-0.2.6\ReBEL-0.2.6\core\Contents.m

     文件       4478  2008-12-22 15:00  ReBEL-0.2.6\ReBEL-0.2.6\core\convgausns.m

     文件        884  2008-12-22 15:00  ReBEL-0.2.6\ReBEL-0.2.6\core\cvecrep.m

     文件       1215  2008-12-22 15:00  ReBEL-0.2.6\ReBEL-0.2.6\core\datamat.m

     文件       8841  2008-12-22 15:00  ReBEL-0.2.6\ReBEL-0.2.6\core\ekf.m

     文件       2005  2008-12-22 15:00  ReBEL-0.2.6\ReBEL-0.2.6\core\fixinfds.m

     文件       2933  2008-12-22 15:00  ReBEL-0.2.6\ReBEL-0.2.6\core\gauseval.m

     文件       1665  2008-12-22 15:00  ReBEL-0.2.6\ReBEL-0.2.6\core\gaussample.m

     文件      91948  2008-12-22 15:00  ReBEL-0.2.6\ReBEL-0.2.6\core\geninfds.m

     文件      30416  2008-12-22 15:00  ReBEL-0.2.6\ReBEL-0.2.6\core\gennoiseds.m

     文件      33533  2008-12-22 15:00  ReBEL-0.2.6\ReBEL-0.2.6\core\gensysnoiseds.m

     文件       7411  2008-12-22 15:00  ReBEL-0.2.6\ReBEL-0.2.6\core\gmmfit.m

     文件       4785  2008-12-22 15:00  ReBEL-0.2.6\ReBEL-0.2.6\core\gmminitialize.m

     文件       5248  2008-12-22 15:00  ReBEL-0.2.6\ReBEL-0.2.6\core\gmmprobability.m

     文件       3076  2008-12-22 15:00  ReBEL-0.2.6\ReBEL-0.2.6\core\gmmsample.m

     文件      10936  2008-12-22 15:00  ReBEL-0.2.6\ReBEL-0.2.6\core\gmsppf.m

     文件       3567  2008-12-22 15:00  ReBEL-0.2.6\ReBEL-0.2.6\core\gmsppf2.m

     文件       9999  2008-12-22 15:00  ReBEL-0.2.6\ReBEL-0.2.6\core\gspf.m

............此处省略358个文件信息