matlab代码sqrt-Optimal-Estimate-BigHomework:NPU最优估计大作业

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matlab代码sqrt Optimal-Estimate-BigHomework 姓名:刘振博 学号:2019201920 完成工作 一维状态量的KF仿真 二维状态量的EKF仿真 应用EKF实现2D-SLAM 一维状态量的KF仿真 系统建模: x+ = F_x *x + F_u * u + F_n * n y = H * x + v 其中: F_x = 1; F_u = 1; F_n = 1; u = 1; H = 0.5; Q = 1; R = 1; 状态先验: x = 0; P = 1e4; 仿真初值: X = 7; 仿真结果: 二维状态量的EKF仿真 系统模型: x+ = f ( x, u, n ) y = h ( x ) + v 系统定义: x = [px py vx vy]' y = [d, a]' u = [ax, ay]' n = [nx, ny]' v = [vd, va]' px+ = px + vx*dt py+ = py + vy*dt vx+ = vx + ax*dt + nx vy+ = vy + ay*dt + ny d = sqrt(px^2 + py^

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