用于 AUV 状态估计的扩展卡尔曼滤波器和粒子滤波器matlab代码.zip

# Extended-Kalman-Filter-and-Particle-Filter-for-AUV-state-estimation README_Progetto_ISI_Brigida_Calzaretta_Massara ------------------------------------------------------------------- 1- To start the algorithm, run the script "Inizializzazione.m". In the last line of this script there is a boolean variable named "is_particle": if you want to see EKF simulation set is_particle = false; if you want to see PF simulation set is_particle = true. ------------------------------------------------------------------- 2- Open file named "BodyDynamics.slxc" and run the code ------------------------------------------------------------------- 3- Run "Animation.m" script to see the animation of the esteem, trajectories plot, innovation diagram and errors plot. if you have chosen EKF simulation, RTS smoother script will be executed automatically.