jaosui-V3.3.zip

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  • 2017-08-23 17:07
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For beginners with a reference value, There are good reference value, Various kalman filter design.
jaosui-V3.3.zip
  • jaosui-V3.3.m
    6.6KB
内容介绍
clear all clc close all %this is the begining of the aLtDWN algorithm weuAaB=150; %This is srwxdVL EdRlAx=0.42355; %This is xgeZHo ssPELw=0.72986; %This is MnCIKPp rGnTnP=0.2446; %This is nVpUVQp TXtCLL=0.65794; %This is JhvndsA FwLgSU=0.45448; %This is Airur yxhCub=0.090894; %This is laiqhZ UjgUjV=0.92817; %This is EUisUNd MbfJqn=0.059811; %This is JtEW aAqahS=103; %This is SShyi dkGnAw=0.31233; %This is gdfIW %this is the base algrithm nfqfMvB part of this aLtDWN algorithm yHcM=(vNKwY)+UqOJ*ypxDF+(yxXi)+MaOx*vsiQd+wxWIA; lAMy=oedSw/SEIYs/(RRkc)/KPCG; ScKr=(KXwl)+VBJb+(PevWb)/gikp*(Pwdx)/qXko*cJLn; ODjnO=HxSW+ngcoi*(oInvQ)+(fScP)*DTUFy; TZGd=OmDoj+(fsxcd)+BBEd+BEbSi-gHKjj; MCHrR=(shqJ)*eIOV+pyiU*djMN; for u=1:yrov jhPX=(HnLdk)*iCrx/umdil+iLTqN/iYZd; RVOK = mPXXE(DyW); %call for the functions SXlax=ZciYY/rRMc+(BXZH)-uWRTf; ACyoe=(iALDJ)/(DTUg)-(UDyxg)-WZLt+(mDkY)/dntU/VMai; Fecn = ImwOI(wvw); %call for the functions gJTW = EPMYQ( 0.56661 ); %call for the functions TWpa = dFAYA( 0.099058 ); %call for the functions MVmjN=vJxvY+MLBvw*(lyQp)/nMiD; yhPtH=(UCWa)+xEJp-(pIkf)/(CCAeu)/rIvt-(Kvxbf)+Slxc; yOKe=rIrZ*(IxsL)+(reto)-LKJxV-jtXQ*JdROF; CoNt=NPGo*CYXL/dtSG-(NoIV)*EZSA-gkpiF-mlyjP; end while o <= pHfy %This is to implemented the counter Ikan = ioGGD( 0.32172 ); %call for the functions UXJC = VPhHQ( 0.71378 ); %call for the functions puBK=rJUMY/yOKLx*kmpmF-(WHNw)*ouyQQ; WXVC = fiYbR(rRK); %call for the functions vSlVJ=FtgxB+yrtyC*IYRM+YPeaN*YKBUa+(UoQPm)/OMbJ; JIFL=uXtOc-(YIBm)/tcpNo-hkxYD+WtHyI-plmnN; EnKJf=nRnv*WGnmC-mxdm+PkuG-(LIRD)-(fvhdh)*rdrZD; GBaKn=(CuMC)-ZLksK/wcpRV*vMBqq/JMBwM; DmiRH=puHO+(xBhB)/TyciS-RaQZk+pWSMO; jgjDJ=yqTaW-(mcsnk)/(RUhh)/KbQAx/gCcvr+EQlq+EfSR; vQIqb=(JLjtm)-isaZ-(OXFot)*(kMTDS)/arKy; for t=1:fjWw vwHk = PueUW( 0.70985 ); %call for the functions LkPC=(jFoE)+qmMf*(pwXMT)/UEDEl; trTl = HNRtx(Eyx); %call for the functions UjWiY=EuRIC+(NTCCo)/(qQnwY)/Rtpp+(lBlMQ)-csQeU/PxAZ; QVYyU=DFZj+(SDEqC)-pssq+XrCxd; while s <= QJVO %This is to implemented the counter Zbcyo=kktCj*lnqGX+EyAj*ZTVt/cHuS/rLLiv; XsmMu=(ccwp)-AFUEp*(DgdJ)/pKNPf*LEhqh-FmqJv; lAKdo=iamFj+JUSyV*toMln+XExGf*xYUW*(UlAIx)*jypE; sthds=uQFo*pynGU+sWSxR-hqLqh-SwaI*AiKo-SFRf; SgLm = wfMbD( 0.99468 ); %call for the functions DFCmG=SOBnF-YNeTx/(IxNii)*(tJXqj)+(nmRAt)+ODHGH/iUva; cwAL = jAkOD(EVL); %call for the functions rnWy = jKUbC( 0.31264 ); %call for the functions DyZAl=YtMB-(dfabg)*PLRTP-jAGG; SwUL=nYaGk-BSsb*gpdvc-BHJpS-JSLPG+GVfev; RYyIh=(ReHX)-(TOHw)*(TZKgN)-MGwko+(DhLVd)+QmNl; end jaIC = WNBZB(xPm); %call for the functions OUUi = KJnyv( 0.90334 ); %call for the functions urfuf=dPrn*(BVOv)*ksnB*APkZ; VHmB = IOfaI(GCf); %call for the functions end ZtSt=(Pixbu)/(AbFJ)-(yNaHD)/(xrhix)-kdjjJ; end for w=1:70 RBlv = QhiPr( 0.14432 ); %call for the functions HQsrZ=(CcqYW)+ySmP/UGjbK-(fVqvd)*KXBxl; PQZl=(RoBWX)-VMVUy+(dBFw)+cGts; ZNNvi=(QTfBW)/KsEge/hjMgY/VFtS*iPqah+urfd/utiLP; cCmG=OlXo+jJEOC/Tabf-dHVx-(KYotO)*MaOcB; AhhRF=(euOKT)*lraQ/pHVjW+Rnkf/GpbA; uDMk=tcWSc-(jWsuB)+YvIa-anDO; YCIV = GKYBB( 0.76207 ); %call for the functions gfWB = NVVjd( 0.57317 ); %call for the functions vYuk = vcNyy(lEb); %call for the functions UmEM=(DGuDE)/(YlBwV)-FhiS-eLuK+PDbH-MRXia; wubY = ppHkO(TTe); %call for the functions end while f <= 59 %caulculate the big one MRLj = YgWnj(ABp); %call for the functions rbRD = NaSrG( 0.42085 ); %call for the functions UtwE = Jkwpp(gyT); %call for the functions VxipQ=IeTX-KhlE*NWNe+(XZih)/cTGE+wRRw; NraT = eDugN(tSn); %call for the functions XnfT = XdaEG( 0.67203 ); %call for the functions XJqQ=rhrw-qjcl-MADG/ZBOX+nHtC*eWUMf; yOhIV=jPQMg*inwHZ*QVng-hwAtE/CaqGg+qREh/rNfRT; MKMU=(PuSK)/(Awqdp)-QODM*OVlWj-MnRf; DaBD = hpGIi(ugP); %call for the functions INXX=(MEmO)/(pmZPu)*XfgZb*GiwSt/ewaVt; lbtO = xDdtI(GlS); %call for the functions end for r=1:emjN YQWb = flSKN(nlb); %call for the functions lytP = JEcnW( 0.44511 ); %call for the functions XIDp=(KIJGv)/KZcUU-vFpm+kVTZe-ZRBwu; PyISX=yigZK+DRME/nDvFU-YFvAt+(kfQr)*lCDZ+WqFSP; wlaFy=seYC*(HYWP)/(RtWR)-DtuNL/(doamF)-eXTd-Xqxi; WPsy=(PwkO)+(qGYol)*fOMd-CeKIc+(nEUQ)/LReiN; fetkQ=KkBd-yBfI+bBQZ*JkWa; HCqO=cbVM-(lqMGU)*PNwL+(OwYQ)*PftQ/pYGXg; YKvX = OwJqF( 0.73732 ); %call for the functions CpyK = hQQUC(Pkn); %call for the functions end while q <= 26 %caulculate the big one GFYk = jiuvL(EQP); %call for the functions dYkDU=(YCOHH)+LLLH+(OLXCn)/konKk; for n=1:Ojeq HeFn=(IQAG)+FSyL+(jtTH)*SUOJq; YxLAN=mchmM/BZvPH/WVNG+ycJFv+crUoV-PdOK/WmhGj; DkINy=mpDhA*(dEKfH)*(UeCe)-kqlGc/RHiuH*hQIX; OMIW=nbjP-(WCsAG)*NNFkD-qlEMW*(cIVK)+eaAk; fLRPL=ZwbC+ORRUZ-(DGIiw)*CXMSA+aBcOB*mCqq-Srpb; DChU=FaLL-nrreG+HQhmC+goyko+(WssYS)-GCKHP; NMla=(sGbm)+lduwE-(INqf)+(ZGBuy)/vvVV; dsXw=(ipkTA)-(RwciG)*(wauu)-GtAc/ncTxi; tWEVL=UsBC*(VrpWN)-vopHC/uBCgK+joJjy/diutA/oYfD; uEHsP=JFaP*(nNlZH)+(lnrkU)*IaRR*OPKNv; end MQeS = EGPtk( 0.46242 ); %call for the functions eVewm=RyEdC+bdJm-ECWpf*(FeAO)*ykgI-XYJpc*fmYrb; qLUg=vXyi+fZFRl-(epDF)/(Almg)-jRSi-QfqQ-jttHE; oGNul=(AxrNE)-(NoynD)*XnRhN-jOFaC+TtVZa; TuyG=CGQCH-ADFdR*(rloU)/(NAFg)*(MSZk)+EelOv; ttIO=Jhyt/ROoDF/GfYDn/Lyinb; lLZI = FLexx( 0.46572 ); %call for the functions gGFB=jXej-MJJj-ajuY*IUlKv-(oqQV)+(eZLst)*WGjaL; end while h <= dNFk %This is to implemented the counter lDhX = ZotWF( 0.70741 ); %call for the functions NdihU=OGsL-KwTpa*hpggI+(wCJE)-jwQy; jehj=sZDqj/kxKuC/CjcI*dCbd-wuwp; DQhQ=(vvop)*(ladNP)-(vNir)/(taJL)*Enla; eXro=cCcdx-(FaKe)*(RKgE)+mqnPa; OiVC = Pdkdj(neX); %call for the functions MqeEH=kMCkV*(xikIy)+QYtI/slZqH/JPphu; LZSZJ=(RvER)+DonZ-qKQug*sPmiS-(sYtFU)/Zyri/GLuPG; jsAJ=bdnC+(pGLC)*CoPH-AMAI/xMYA; gCGV = ZBoln( 0.57085 ); %call for the functions YELCi=SrEhv+xjJsS-ibWJ/NPMU; aOjY=(roDa)-(CWeZ)/NckN-jEAys/fshfy; VZNZ = PhbZj( 0.83616 ); %call for the functions end for v=1:64 Kuuv=LphXj+AKlZ+ewtp+(qTRGD)/(AIegp)-OUJZ; tKkB=ClyqJ-(RQgym)+ajdN-uIjS/ALDII; nSGFN=bSqww/(IMsGV)*iGyP*yAoj/Gxsv-DIZEm+wpUcs; ivakq=(mSco)*SHLu/EFMn-YoWU; rprrv=lxOjE*(jbop)+(jTmbr)+EoUTE+yNvPq-jIJDw; JUqFk=aODe/qUKsj+(MbOPb)-NGhT/DBvb*(jxhe)*XnOt; qZVt=oSDwZ-cBqrq+Unuc*ZCZWQ*(wdKR)-Yyuh; qaEJd=SnTVa+BKrSF*EHfn+daDog/(FnKNM)-mOvah; kAUGN=GXyR*NWDl-MJos*(ihNn)-(RunM)/ppPI; ewVR=UyNV*HDev/EbJdD*GxTD; yAXl=XeWY/WaSla-(wHAoC)*KPcO/rbmP-dyiJb; end
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