www.pudn.com > Ukf.zip > TMUPDT.m, change:2005-08-17,size:951b


function [Xinew1,Xinew2,Xinew3,Yinew1,Yinew2,Yinew3,Xbark,Ybark,Pbark] = TMUPDT(Wmo,Wmi,Wmin,Wco,Wci,Wcin,Sg11,Sg12,Sg13,Sg21,Sg22,Sg23,Sg31,Sg32,Sg33); 
 
Xinew1  = (sin(Sg11))^2 + exp(Sg21);   %FIRST STEP 
Xinew2  = (sin(Sg12))^2 + exp(Sg22);   %FIRST STEP 
Xinew3  = (sin(Sg13))^2 + exp(Sg23);   %FIRST STEP 
 
[RW CL] = size(Sg12); 
NxMean1 = Wmo*Xinew1; 
NxMean2 = Wmi*Xinew2;    %SECOND STEP 
NxMean3 = Wmin*Xinew3;   %SECOND STEP 
 
Xbark = sum(sum(NxMean1) + sum(NxMean2) + sum(NxMean3)); 
 
NxCov1 = Wco*(Xinew1-Xbark); 
NxCov2 = Wci*[(Xinew2-Xbark)*(Xinew2-Xbark)']; 
NxCov3 = Wcin*[(Xinew3-Xbark)*(Xinew3-Xbark)']; 
 
Pbark = sum(sum(NxCov1) + sum(NxCov2) + sum(NxCov3)); 
 
Yinew1 = (Xinew1)^2 + cos(Sg31); 
Yinew2 = (Xinew2)^2 + cos(Sg32); 
Yinew3 = (Xinew3)^2 + cos(Sg33); 
 
NYMean1 = Wmo*Yinew1; 
NYMean2 = Wmi*Yinew2;    %FIFTH STEP 
NYMean3 = Wmin*Yinew3;   %FIFTH STEP 
 
Ybark = sum(sum(NYMean1) + sum(NYMean2) + sum(NYMean3));