仅测距（UWB）和6轴imu传感器的融合算法（kf）_MATLAB_代码_相关文件_下载

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m：117个

fig：7个

mat：5个

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仅测距（UWB）和 6 轴 imu 传感器的融合算法（kf）_MATLAB_代码_相关文件_下载（145个子文件）

ReadMe.docx 449KB

运动场运动轨迹-误差曲线图.fig 419KB

轨迹图.fig 288KB

速度图.fig 249KB

姿态图.fig 235KB

误差分析图.fig 174KB

运动场运动轨迹数据图形.fig 146KB

运动轨迹图.fig 88KB

cprintf.m 24KB

reentry_demo.m 13KB

bot_demo_all.m 13KB

demo_ekf_ukf.m 13KB

botm_demo.m 12KB

ungm_demo.m 10KB

ct_demo.m 10KB

eimm_smooth.m 10KB

uimm_smooth.m 9KB

imm_smooth.m 8KB

ekfs_bot_demo.m 8KB

ghkfs_bot_demo.m 8KB

ckfs_bot_demo.m 8KB

imm_demo.m 8KB

ukfs_bot_demo.m 8KB

kf_cwpa_demo.m 7KB

fusion_display.m 6KB

Contents.m 6KB

ekf_sine_demo.m 6KB

etf_smooth1.m 5KB

rk4.m 4KB

eimm_predict.m 4KB

imm_filter.m 4KB

erts_smooth1.m 4KB

utf_smooth1.m 4KB

uimm_predict.m 4KB

ghrts_smooth.m 4KB

urts_smooth1.m 4KB

eimm_update.m 4KB

ut_transform.m 3KB

imm_predict.m 3KB

crts_smooth.m 3KB

ekf_predict2.m 3KB

ekf_update2.m 3KB

ukf_update2.m 3KB

tf_smooth.m 3KB

urts_smooth2.m 3KB

ukf_update3.m 3KB

ngausshermi.m 3KB

ukf_update1.m 3KB

uimm_update.m 3KB

fusion_init.m 3KB

demo_ekf_error.m 3KB

lti_int.m 3KB

ukf_predict3.m 3KB

ekf_update1.m 3KB

kf_update.m 3KB

demo_ukf.m 3KB

kf_sine_demo.m 3KB

imm_update.m 2KB

bot_demo_loop.m 2KB

quad_transform.m 2KB

ukf_ins_f.m 2KB

ghkf_update.m 2KB

ekf_predict1.m 2KB

der_check.m 2KB

reentry_demo_loop.m 2KB

ukf_predict2.m 2KB

ukf_predict1.m 2KB

kf_predict.m 2KB

ckf_update.m 2KB

rts_smooth.m 2KB

ghkf_predict.m 2KB

kf_loop.m 2KB

ckf_predict.m 2KB

lin_transform.m 2KB

lti_disc.m 2KB

cd_transform.m 2KB

ut_weights.m 2KB

ckf_packed_pc.m 2KB

gh_packed_pc.m 2KB

sphericalradial.m 2KB

gh_transform.m 2KB

resampstr.m 1KB

gauss_pdf.m 1KB

reentry_df_dx.m 1KB

ckf_transform.m 1KB

ekf_ins_f.m 1KB

ungm_demo_loop.m 1KB

schol.m 1KB

f_turn_dx.m 1KB

ut_mweights.m 1KB

kf_lhood.m 1KB

hermitepolynomial.m 1KB

ekf_err_ins_f.m 1KB

reentry_f.m 1KB

reentry_param.m 1007B

bot_d2h_dx2.m 991B

triangulate.m 935B

ut_sigmas.m 933B

f_turn.m 924B

共 145 条

# demo for Kalman filter in ranging system this is fusion algorithm with only ranging(UWB) and 6-axis imu sensor in similink data ## Demo - [demo_ekf_error.m][1] - [demo_ukf.m][2] ## Figure - error ![image](./demo_kf/result/error.PNG) - trajectory ![image](./demo_kf/result/xyz.PNG) - speed ![image](./demo_kf/result/speed.PNG) - pose ![image](./demo_kf/result/pose.PNG) [1]: ./demo_kf/demo_ekf_error.m [2]: ./demo_kf/demo_ukf.m

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