www.pudn.com > ekfcode.zip > onestep.m

% A script file to look in detail at one step in the 
% filter calculation. Requires complete filter to have been 
% run previously 
 
dt=utrue(3,tstep)-utrue(3,tstep-1); 
time=utrue(3,i); 
[xp1 Pp1]=pred(xest(:,tstep-1),squeeze(Pest(:,:,tstep-1)),dt,utrue(:,tstep)); 
[xe1 Pe1 in1 ins1]=update(xp1,Pp1,obs(:,tstep),beacons);