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ÇóÖú matlab ÎÞζ¿¨¶ûÂüÂ˲¨³ÌÐòÄÄÀï³ö´íÁË
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clear; clc; %²ÎÊýÉèÖà a=0.5; b=25; c=8; R=1; Q=1; N=50; X(1)=0.1; Y(1)=X(1)^3/200; for i=1:N X(i+1)=a*X(i)+b*(X(i)/(1+X(i)^2))+c*cos(1.2*i); Y(i+1)=X(i+1)^3/200; end q=0.05; P0=(X(1)*q)^2; y=normrnd(Y,abs(Y)*q); alpha=0.5; belta=2; kappa=0; n=1;%ΪάÊý W0=kappa/(n+kappa);%1´ú±íάÊýΪ1 Wm(1)=W0/(alpha^2)+(1-1/(alpha^2)); Wc(1)=Wm(1)+(1+belta-alpha^2); for l=2:3 Wm(l)=(1-W0)/(2*alpha^2*n); Wc(l)=(1-W0)/(2*alpha^2*n); end Xukf=zeros(1,51); Xukf(1)=X(1); y1(1)=X(1)^3/200; %UKF¹ý³Ì for i=2:51 xestimate= Xukf(i-1); P=P0; cho=(chol(alpha^2*(n+kappa)*P)); xgamaP1=xestimate+cho; xgamaP2=xestimate-cho; Xsigma=[xestimate,xgamaP1,xgamaP2]; for k=1:3 Xsigmapre(k)=a*Xsigma(k)+b*(Xsigma(k)/(1+Xsigma(k)^2))+c*cos(1.2*(i-1)); end xpred=0; for k=1:3 xpred=xpred+Wm(k)*Xsigmapre(k); end ppred=0; for k=1:3 ppred=ppred+Wc(k)*(Xsigmapre(k)-xpred)*(Xsigmapre(k)-xpred); end ppred=ppred+Q; chor=(chol(alpha^2*(n+kappa)*ppred)); XaugsigmaP1=xpred+chor; XaugsigmaP2=xpred-chor; Xaugsigma=[xpred XaugsigmaP1 XaugsigmaP2]; for k=1:3 Ysigmapre(k)= Xaugsigma(k)^3/200; end ypred=0; for k=1:3 ypred=ypred+Wm(k)*Ysigmapre(k); end Pzz=0; for k=1:3 Pzz=Pzz+Wc(k)*(Ysigmapre(k)-ypred)*(Ysigmapre(k)-ypred); end Pzz=Pzz+R; Pxy=0; for k=1:3 Pxy=Pxy+Wc(k)*(Xaugsigma(k)-xpred)*(Ysigmapre(k)-ypred); end K=Pxy*inv(Pzz); P=ppred-K*Pzz*K'; P0=P; xestimate=xpred+K*(Y(i)-ypred); Xukf(i)=xestimate; y1(i)=xestimate^3/200; end plot(0:N,y1,'b',0:N,Y,'r') |
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