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/Delta_Rho_Compute.m

    % Called by Rcv_Pos_Compute to compute the delta_rho.
function [Delta_Rho] = Delta_Rho_Compute(Rhoc, SV_Pos, Rcv_Pos, b)

[m, n] = size(SV_Pos);
for i = 1:m
    Rho0 = norm(SV_Pos(i,:) - Rcv_Pos) + b;
    Delta_Rho(i,1) = Rhoc(i) - Rho0;
end

end