?? compute_weight.m
字號:
function w= compute_weight(particle, z, idf, R)
[zp,Hv,Hf,Sf]= compute_jacobians(particle, idf, R);
v= z-zp;
v(2,:)= pi_to_pi(v(2,:));
w= 1;
for i=1:size(z,2)
S= Sf(:,:,i);
den= 2*pi*sqrt(det(S));
num= exp(-0.5 * v(:,i)' * inv(S) * v(:,i));
w = w* num/den;
end
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