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9 lines
247 B
9 lines
247 B
12 years ago
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function [x_aposteriori] = kalman_dlqe2(dt,k1,k2,k3,x_aposteriori_k,z)
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st = 1/2*dt^2;
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A = [1,dt,st;
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0,1,dt;
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0,0,1];
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C=[1,0,0];
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K = [k1;k2;k3];
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x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k);
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end
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