卡爾曼濾波

ID:136419 · 發(fā)表于 2016-8-10 12:14

#ifndef _KALMAN_H_

#define _KALMAN_H_

extern KalmanGain;// 卡爾曼增益

extern EstimateCovariance;//估計(jì)協(xié)方差

extern MeasureCovariance;//測量協(xié)方差

extern EstimateValue;//估計(jì)值

extern void KalmanFilterInit(void);

extern KalmanFilter( Measure);

#endif

#include "config.h"

#include "math.h"

KalmanGain;// 卡爾曼增益

EstimateCovariance;//估計(jì)協(xié)方差

MeasureCovariance;//測量協(xié)方差

EstimateValue;//估計(jì)值

void KalmanFilterInit(void);

extern float KalmanFilter(float Measure);

void KalmanFilterInit(void)

{

EstimateValue=0;

EstimateCovariance=0.1;

MeasureCovariance=0.02;

}

KalmanFilter( Measure)

{

//計(jì)算卡爾曼增益

KalmanGain=EstimateCovariance*sqrt(1/(EstimateCovariance*EstimateCovariance+MeasureCovariance*MeasureCovariance))；

//計(jì)算本次濾波估計(jì)值

EstimateValue=EstimateValue+KalmanGain*（Measure-EstimateValue）；

//更新估計(jì)協(xié)方差

EstimateCovariance=sqrt(1-KalmanGain)*EstimateCovariance;

//更新測量方差

MeasureCovariance=sqrt(1-KalmanGain)*MeasureCovariance;

//返回估計(jì)值

return EstimateValue;

}

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