文件名称:KalmanGain
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- 上传时间：2013-09-08
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文件大小：275.16kb
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卡尔曼滤波在单片机上的应用
KalmanGain = EstimateCovariance * sqrt( 1 / ( EstimateCovariance * EstimateCovariance + MeasureCovariance * MeasureCovariance ))；
//计算本次滤波估计值
EstimateValue = EstimateValue + KalmanGain*（ Measure – EstimateValue ）；
//更新估计协方差
EstimateCovariance = sqrt(1 - KalmanGain) * EstimateCovariance
//更新测量方差
MeasureCovariance = sqrt(1 - KalmanGain) * MeasureCovariance
//返回估计值
return EstimateValue
-Kalman filter KalmanGain = EstimateCovariance* sqrt (1/(EstimateCovariance* EstimateCovariance+ MeasureCovariance* MeasureCovariance))
//Calculate the estimated value of this filter
EstimateValue = EstimateValue+ KalmanGain* (Measure- EstimateValue)
//Update the covariance
EstimateCovariance = sqrt (1- KalmanGain)* EstimateCovariance
//Update the measurement variance
MeasureCovariance = sqrt (1- KalmanGain)* MeasureCovariance
//Returns the estimated value
return EstimateValue
KalmanGain = EstimateCovariance * sqrt( 1 / ( EstimateCovariance * EstimateCovariance + MeasureCovariance * MeasureCovariance ))；
//计算本次滤波估计值
EstimateValue = EstimateValue + KalmanGain*（ Measure – EstimateValue ）；
//更新估计协方差
EstimateCovariance = sqrt(1 - KalmanGain) * EstimateCovariance
//更新测量方差
MeasureCovariance = sqrt(1 - KalmanGain) * MeasureCovariance
//返回估计值
return EstimateValue
-Kalman filter KalmanGain = EstimateCovariance* sqrt (1/(EstimateCovariance* EstimateCovariance+ MeasureCovariance* MeasureCovariance))
//Calculate the estimated value of this filter
EstimateValue = EstimateValue+ KalmanGain* (Measure- EstimateValue)
//Update the covariance
EstimateCovariance = sqrt (1- KalmanGain)* EstimateCovariance
//Update the measurement variance
MeasureCovariance = sqrt (1- KalmanGain)* MeasureCovariance
//Returns the estimated value
return EstimateValue
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