gusucode.com > 扩展卡尔曼滤波源码程序 > 扩展卡尔曼滤波源码程序/EKF/EKF/ConstantVelocity.m
% Constant Velocity model for GPS navigation. function [Val, Jacob] = ConstantVelocity(X, T) Val = zeros(size(X)); Val(1:2:end) = X(1:2:end) + T * X(2:2:end); Val(2:2:end) = X(2:2:end); Jacob = [1,T; 0,1]; Jacob = blkdiag(Jacob,Jacob,Jacob,Jacob); end