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liguixiao

гæ (³õÈëÎÄ̳)

[ÇóÖú] ÇóÖú matlab ÎÞζ¿¨¶ûÂüÂ˲¨³ÌÐòÄÄÀï³ö´íÁË

clear; clc;
%²ÎÊýÉèÖÃ
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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baobiao007

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liguixiao

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ÒýÓûØÌû:
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