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clearallv150目标速度v_se
sor0传感器速度t1扫描周期
xradarposito
0传感器坐标yradarposito
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ppredzeros44Pzzzeros22Pxxzeros42xpredzeros41ypredzeros21sumx0sumy0sumxukf0sumyukf0sumxekf0sumyekf0统计的初值
L4alpha1kalpha0belta2ramda3L
azimutherror0015方位均方误差ra
geerror100距离均方误差process
oise1过程噪声均方差
taot33t2200t22t0000t33t2200t22tthei
putmatrixofprocessGt220t00t220t
a35pi180a_v5100
a_se
sor45pi180x18000初始位置
1页
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fy112000
fori1200xi1xivcosatyi1yivsi
ate
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fori1200xradarposito
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Zmeasure1iata
yiyradarposito
xixradarposito
ra
domNormal0azimutherror11Zmeasure2isqrtyiyradarposito
2xixradarposito
2ra
domNormal0ra
geerror11
xxiZmeasure2icosZmeasure1i观测值yyiZmeasure2isi
Zmeasure1i
measureerrorazimutherror200ra
geerror2processerrortaoprocess
oisevNoisesizeprocesserror1wNoisesizemeasureerror1
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forj12L1Wmj12LramdaWcj12Lramdae
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Wm1ramdaLramdaWc1ramdaLramda1alpha2belta权值
ifi1xerrorra
geerror2cosZmeasure1i2Zmeasure2i2azimutherror2si
Zmeasure1i2yerrorra
geerror2si
Zmeasure1i2Zmeasure2i2azimutherror2cosZmeasure1i2xyerrorra
geerror2Zmeasure2i2azimutherror2si
Zmeasure1icosZmeasure1iPxerrorxerrortxyerrorxyerrortxerrort2xerrort2xyerrort2xyerrort2xyerrorxyerrortyerroryerrort
2页
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Zmeasure1i0e
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chocholPLramdaforj1LxgamaP1jxestimatechojxgamaP2jxestimatechoje
dXsigmaxestimatexgamaP1xgamaP2FAXsigmapreFXsigmaxpredzerosA
oise1forj12L1xpredxpredWmjXsigmapreje
dNoise1A
oiseppredzerosNoise1Noise1forj12L1ppredppredWcjXsigmaprejxpredXsigmaprejxprede
dppredppredprocesserror
chorcholLramdappredforj1LXaugsigmaP1jxpredchorjXaugsigmaP2jxpredchorje
dXaugsigmaxpredXaugsigmaP1XaugsigmaP2
forj12L1Ysigmapre1jata
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dypredzeros21forj12L1ypredypredWmjYsigmapreje
dPzzzeros22forj12L1PzzPzzWcjYsigmaprejypredYsigmaprejyprede
dPzzPzzmeasureerror
3r
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