交互式多模型分布式信息滤波(共10页).doc

% IMM_DUIF close allclearclc%初始化n=6; %状态维数T=1; %采样周期t=300; %仿真时间N0=t/T; %总采样点数N=N0/5; %每个运动阶段采样点数sNUM=3; %节点数目F= 1 0 T 0 0 0; 0 1 0 T 0 0; 0 0 1 0 0 0; 0 0 0 1 0 0; 0 0 0 0 1 0; 0 0 0 0 0 1; %模型一状态矩阵f=(x) x(1)+sqrt(x(3)2+x(4)2)*T*sin(x(5); x(2)-sqrt(x(3)2+x(4)2)*T*cos(x(5); x(3)*cos(x(6)*T)-x(4)*sin(x(6)*T); x(3)*sin(x(6)*T)+x(4)*cos(x(6)*T); x(5)+x(6)*T; x(6);