?? kud.m
字號(hào):
function [x,P] = kud(x,P,H,b,var)
%KUD Kalman update, one measurement per call
% Observation variance: var
%Kai Borre and C.C. Goad 11-24-96
%Copyright (c) by Kai Borre
%$Revision: 1.0 $ $Date: 1997/10/15 $
innovation = b-H'*x; % omc
HP = H'*P;
innovation_variance = HP*H+var;
K = HP'/innovation_variance;
x = x+K*innovation;
P = P-K*HP;
%%%%%%%% end kud.m %%%%%%%%%%%%%%%%%%
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