文件名称:
Manual for Matlab toolbox EKF/UKF
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上传时间: 2011-10-23
详细说明： Optimal filtering with Kalman filters and smoothers – a Manual for Matlab toolbox EKF/UKF Jouni Hartikainen and Simo Särkkä Department of Biomedical Engineering and Computational Science, Helsinki University of Technology, P.O.Box 9203, FIN-02015 TKK, Espoo, Finland jmjharti@lce.hut.fi, simo.sarkka@hut.fi February 25, 2008 Version 1.2 Abstract In this paper we present a documentation for optimal filtering toolbox for mathematical software package Matlab. The methods in the toolbox include Kalman filter, extended Kalman filter an d unscented Kalman filter for discrete time state space models. Algorithms for multiple model systems are provided in the form of Interacting Multiple Model (IMM) filter and it’s non-linear extensions, which are based on banks of extended and unscented Kalman filters. Also included in the toolbox are the Rauch-Tung-Striebel and two-filter smoother counter-parts for each filter, which can be used to smooth the previous state estimates, after obtaining new measurements. The usage and function of each method are illustrated with eight demonstrations problems. ...展开收缩
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