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

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);