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    %% Specify Jacobians for State and Measurement Functions
% Create an extended Kalman filter object for a van der Pol oscillator with
% two states and one output. Use the previously written and saved state
% transition and measurement functions, |vdpStateFcn.m| and 
% |vdpMeasurementFcn.m|.
% Specify the initial state values for the two states as [2;0]. 
obj = extendedKalmanFilter(@vdpStateFcn,@vdpMeasurementFcn,[2;0]);
%%
% The extended Kalman filter algorithm uses Jacobians of the state
% transition and measurement functions for state estimation. 
% You write and save the Jacoban functions and provide them as function 
% handles to the object. In this example, use the previously written and 
% saved functions |vdpStateJacobianFcn.m| and |vdpMeasurementJacobianFcn.m|.
obj.StateTransitionJacobianFcn = @vdpStateJacobianFcn.m;
obj.MeasurementJacobianFcn = @vdpMeasurementJacobianFcn;
%%
% Note that if you do not specify the Jacobians of the functions, the
% software numerically computes the Jacobians. This numerical computation
% may result in increased processing time and numerical inaccuracy of the
% state estimation.