extended-Kalman-Filter(EKF)-for-GPS
所属分类：matlab编程
开发工具：matlab
文件大小：15KB
下载次数：21
上传日期：2016-10-02 11:06:06
上 传 者：
zhenwuming10
说明： GPS工具箱，很方便使用，适合对GPS定位导航感兴趣的亲们
(GPS toolbox)
文件列表:
EKF\ConstantVelocity.m (262, 2013-05-11)
EKF\Delta_Rho_Compute.m (255, 2013-05-11)
EKF\Extended_KF.asv (2799, 2013-05-11)
EKF\Extended_KF.m (2799, 2013-05-11)
EKF\Extended_KF_v1.m (6640, 2013-05-11)
EKF\GPS_EKF.m (4592, 2013-05-11)
EKF\G_Compute.m (272, 2013-05-11)
EKF\PseudorangeEquation.asv (327, 2013-05-11)
EKF\PseudorangeEquation.m (353, 2013-05-11)
EKF\Rcv_Pos_Compute.asv (1486, 2013-05-11)
EKF\Rcv_Pos_Compute.m (900, 2013-05-11)
EKF\SV_Pos.mat (2435, 2011-05-11)
EKF\SV_Rho.mat (928, 2011-05-11)
license.txt (1310, 2014-02-12)
Version 2.0(2013/05/10): I rewrote the code to use function handle as input parameter instead of symbolic expression as in the previous edition. The old one is in the file -Extended_KF_v1.m.
This toolkit aims at giving an implementation of the Extended Kalman Filter (EKF), as in the file:
-Extended_KF.m
An example of using the EKF function is given in the file:
-GPS_EKF.m
which applies Extended_KF to the GPS positioning task. It reads the pseudorange and the satellite position information provided in the
-SV_Rho.mat and SV_Pos.mat
and uses the EKF as well as the traditional Least Square(LS) method to compute the position of the receiver. Other .m files are:
-Rcv_Pos_Compute.m, G_Compute.m, Delta_Rho_Compute.m and
-PseudorangeEquation.m, ConstantVelocity.m
which contain auxiliary functions for the LS and EKF methods, respectively.
References for the general Kalman Filtering and KF with application to target tracking:
[1] Y. Bar-Shalom, X. R. Li and T. Kirubarajan, Estimation with Applications to Tracking and Navigation, Wiley Interscience, 2001.
[2] R. G. Brown and P. Y. C. Gwang, Introduction to Random Signals and
Applied Kalman Filtering, 3rd ed. New York: Wiley, 1997.
[3] http://www.cs.unc.edu/~welch/kalman/
chong.you1***7@gmail.com
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