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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 |
