?? proc_innov.m
字號:
function [binnov, binnovsig]=proc_innov(innov,innovar,obs,bnum)
%
% function [binnov, binnovsig]=proc_innov(innov,innovar,obs,bnum)
%
% a function to process innovation results, extracting (optionally)
% innovations for specific beacons and standarad deviations
%
[temp,nsamps]=size(obs);
binnov=zeros(3,nsamps);
binnovsig=zeros(2,nsamps);
j=0;
if nargin==4
for i=1:nsamps
if obs(3,i) == bnum
j=j+1;
binnov(1:2,j)=innov(:,i);
binnov(3,j)=obs(4,i);
binnovsig(1,j)=sqrt(innovar(1,1,i));
binnovsig(2,j)=sqrt(innovar(2,2,i));
end
end
else
for i=1:nsamps
if obs(3,i) ~= 0
j=j+1;
binnov(1:2,j)=innov(:,i);
binnov(3,j)=obs(4,i);
binnovsig(1,j)=sqrt(innovar(1,1,i));
binnovsig(2,j)=sqrt(innovar(2,2,i));
end
end
end
binnov=binnov(:,1:j);
binnovsig=binnovsig(:,1:j);
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