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/G_Compute.m
% Called by Rcv_Pos_Compute to compute the Jacobian matrix. function G = G_Compute(SV_Pos, Rcv_Pos) [m, n] = size(SV_Pos); dX = bsxfun(@minus, SV_Pos, Rcv_Pos); Nor = sum(dX .^2, 2) .^0.5; Unit_Mtrix = bsxfun(@rdivide, dX, Nor); G = [-Unit_Mtrix ones(m,1)]; end