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

globals; 
ginit; 
 
disp('Press return to run filter'); 
pause; 
 
%initial_errors=[5; 5; 0.2; 0.1] 
% initialise filter 
xinit=xtrue(:,1); 
xinit(4,1)=WHEEL_RADIUS; 
%xinit=xinit+initial_errors; 
 
Pinit= [0.024 0.0   0.0     0.0; 
        0.0   0.024 0.0     0.0; 
        0.0   0.0   0.00025 0.0; 
        0.0   0.0   0.0     0.0001]; 
      
%run filter      
[xest,Pest,xpred,Ppred,innov,innvar]=kfilter(obs,utrue,xinit,Pinit,beacons); 
 
disp('Completed Filtering')