gusucode.com > 扩展卡尔曼滤波，粒子滤波，去偏卡尔曼滤波和循环增益尔曼滤波的源程序 > 粒子滤波/no_noise.m

    function [real_xy,r,thita]=no_noise(ch,object_init_state,N)    
for  i=1:N
    if  i==1
        real_xy(:,1)=ch*(object_init_state');
    else
        real_xy(:,i)=ch*real_xy(:,i-1);
    end
    r(i)=sqrt(real_xy(1,i)^2+real_xy(3,i)^2);
    if  real_xy(1,i)>0
        thita(i)=atan(real_xy(3,i)/real_xy(1,i));
    else
        thita(i)=atan(real_xy(3,i)/real_xy(1,i))+pi;
    end
end