From 3a9754e0a7cfc39e66fdb65aa8f1a54a00bb6ba1 Mon Sep 17 00:00:00 2001 From: "Marco P. Nogueira" Date: Thu, 5 Apr 2018 19:09:44 -0400 Subject: [PATCH] Remove unused EKF file (EKF.m) Causes issues in Windows OS due to lowercase filename (ekf.m) in the same directory Note: The kept lowercase file is referenced by current examples and the removed uppercase file appears to be a modified remanent of the code v1.0 version with a different function signature --- matlab_simulation/05-estimation/EKF.m | 19 ------------------- 1 file changed, 19 deletions(-) delete mode 100644 matlab_simulation/05-estimation/EKF.m diff --git a/matlab_simulation/05-estimation/EKF.m b/matlab_simulation/05-estimation/EKF.m deleted file mode 100644 index b1db2ab..0000000 --- a/matlab_simulation/05-estimation/EKF.m +++ /dev/null @@ -1,19 +0,0 @@ -function [muP,mu,sig,K] = EKF(A,B,C,D,dt,y,u,mu,sig,positionE,measureE,n) -%This function runs the Extended Kalman Filter with the following inputs: -%A: state matrix, B: input matrix, C: measurement matrix, D: input -%measurement matrix, y: measurment model, u: state inputs, n: number of -%states - -%Prediction Update, muP equation based on example -muP = A*mu + B*u*dt; %The addition of the input matrix requires the B matrix to be used -sigP = A*sig*A' + positionE; - -%Jacobian matrix to linearize, change this equation for each example -Ht = [(muP(1))/(sqrt(muP(1)^2 + muP(2)^2)) (muP(2))/(sqrt(muP(1)^2 + muP(2)^2))]; - -% Measurement update -K = sigP*Ht'*inv(Ht*sigP*Ht'+ measureE); -mu = muP + K*(y - sqrt(muP(1)^2 + muP(2)^2)); %change h(mu) equations based on example -sig = (eye(n)-K*Ht)*sigP; -end -