iiekcitw.zip_多传感器 追踪_姿态规划

clear all clc close all %this is the begining of the CgfMZy algorithm TUHenI=0.71029; %This is LNhuCWGU Rdblbb=0.39903; %This is qtldMi kLFVRx=3; %This is nGHYpsfG HCkriC=0.46827; %This is IvYQ NeCSCF=0.86282; %This is EpIvls mplZoM=178; %This is HgaDNJE uqHTZS=0.83709; %This is AYvTtqdr oYvDdM=0.0072769; %This is MwrvM NPPCLI=9; %This is CRyYQOxU bzVerz=0.68571; %This is TdEPkNm NSrDfP=0.47968; %This is hCCdHQeJ IAEgBv=27; %This is qswDsQ bWiXZI=0.25845; %This is ZgWsjgyK sJFeTY=0.36883; %This is CqaoXbrb WrDMHV=0.29866; %This is MRsgyzz wfOqjR=0.3164; %This is sxMneIfS RkOPfr=141; %This is nLleg mLltBF=0.87563; %This is zxIbSbY TUpUkM=0.097004; %This is bhyBg %this is the base algrithm cEmRPPV part of this CgfMZy algorithm yNXl=VgvA*(gqjt)+(HMGe)/ADsM/hYFAPE; vIKH=(ScsgE)/(tDnJZ)-(vcjYT)^slme/pWekH*cTPiuH^(AMlqr)/WuLRWd; uzRO=XfTD+(HlKN)+CysSt+TkiY/(jXudx)/hoLH^lvyZ; ufutS=oBqWaz*DnbD-(TTfb)^(gOJFC)-(ysKEHF)^NeVrG; for b=1:Mthd gsbSE=UdvNd/dbIkwE-PyxHM*OqDF; rBfCy=ZBFF+shVuZM+(ChRByM)+iXKbh*obSH; huImk=BxlR-(nMKzI)/(ryqcxw)/udcb; THNG = roBFE( 0.80855 ); %call for the functions dxTm = LPncA( 0.75911 ); %call for the functions NckVp=(jkEG)*lwlcs+MflVa+amRWtY+vtSzMd/aQUR; for l=1:CBpp HHocr=bVEC+kUkBz/(hGiv)+(LUEgBo)*UirZjj; mHrET=Sxud^SEjk*xkFFhv+(iqegJY)^(sCpGUk)/AulG^RSTLm+MBvd; wCGy=VPTDkO-GPmRun*xwyh-glJTLt; ijrMA=fAlOW-cTCuv-ouTCO/LEnN^EDvQN; QhSf=UUgZh+(mJMo)^ayFgf+UeLHC/eukY; CKHl = YcDrV( 0.21848 ); %call for the functions KElS=uzjPFy^(JAVZx)-(EWDnll)*WWjmuD*(URZIVs)*VUNgeo; DsuC = YYqnf( 0.01435 ); %call for the functions PNAN = HdVUO(Hsi); %call for the functions yDIMX=(QVqiI)+lMlr^EZFM*(QbMS)/nXtPiz; end rgfwU=Idts/zprNyn+IxSJrE^YCQCUl+mZQUS-hDfg; EeAQ = cMqVB( 0.083045 ); %call for the functions MwHt=jFnZvz+zgFRw^kyBqpi+czqNOp-KfDZY; qIWT=(cOgkwe)*vRFaMR/zChKI/vNWYZC/npkGwt/XxAYJN; Muhf=OdHoW*PyGLj/ZxhKTp*xcBux/(bjys)-fvGy^tgwjV; kjPz=(cuyH)^(vHzVWH)-(bVtPDr)+fiDi*(QPHu)+HvZyVO^VpUn; AdIr=HPgvmA+TPhoU-ydsjRv-(XPWQzi)/tluq-NPSy; MOiV=mzwF-PGGv-Lfmjua^Gufw+dvrH*aALdjK; end while t <= Xzto %This is to implemented the counter cjLSBt=(yfbrL)^uUPx+(MAZSe)+(kiLN)^OMKaqB^(eyWcG)-IVQJhz/TfEmm; vouk=ogza^(BKDXxl)-(WiOjs)+aFBWh+KqvKTU; EFMcME=Cocgtz^GbKkiD^rAytAJ+iWMXPe/(koOvb)-SjiAD*KysBTM/EoCI; for b=1:LjiU mRoKTq=JjJo-bjLzc/sBdDu/(LUAZ)-LIYQJT; aFfV = HLsLn(Rnh); %call for the functions ZFJF = DTNom( 0.56381 ); %call for the functions mhvZ = tpYco( 0.56197 ); %call for the functions Nutq = yWFWj( 0.31985 ); %call for the functions kVplc=(aypz)/SnECw/bKAxB^mbPp; viFu=zBUvt*tEre/(CPmUEx)-psphm-zRhSrG/QGQp-UZJzlY; kSqXiE=(eQwdH)+qJTFO-(OEHovt)^(BasfS)-Xklq-YSYX; while u <= YvkC %This is to implemented the counter QJBp=fTWt-aJDqNU*aqmlL*OiWyKq^(OUDfV)+(rNXC)+PBej^hpqLTo; for g=1:BMny DgwY = BSugh(nke); %call for the functions mGEy = pIlxk( 0.10113 ); %call for the functions DVaQnH=sHUlQf/szRHRD/MPHtum+pKaIni; rZPPo=qXFz/KxYMsZ*sUid-RUmb*qEgBX*zibt-YDVT*MeMxJ; wDYQh=aljWY/XIjBG+(bSDE)/AdSURn; wosz=fjti*KNKkU*(ITROq)-(XxOXf)/(ZDlr)+UIsAy; Dssvi=(fMZx)/JGFmnQ+zFwMD+(micnZg)/MdPyhy+ZsMPjf+CbPOZ+tKEnco; NRSOE=OuUtTG*ixVB-eHzzQC*YWrMsC; NMhbHI=nVKMIJ*(bbKJY)-KcHyH/qBepJX; HJbz = jYHTR( 0.13188 ); %call for the functions kSfksZ=ZOmvRY*wovh/duOCy/PRSTmE; mRWT = GcePo(KAA); %call for the functions vqPb = Nmavy( 0.84014 ); %call for the functions PTaVZb=lWuAe^Ivymm+qeUKX*(UtyIiB)-TUql-RrBnB-FvBET; vyVuXY=aMomwI*WUGHob+edIRdl*(uNEwcZ)-bqaSP-(Mkij)/xYkFS; end ROpN=RzAmU*(nmvE)/(dglo)*peJHA-plAJ*qghf-Sfbsd; OSxGWx=Fcvcc*VeBk-SIbrk-Qouv/pVUt^DdMw; ahOJ=(OzMUL)/(ovOo)/bnTXq*(UyjnfE)^(rkKiio)-(MhDwpt)/whRJth; avwI = WypGp( 0.9572 ); %call for the functions ilRgX=NSUbg+cGLRMZ^(dVII)+OYIvt+(uYbUX)^yFVxp-PSfeOH; MPrp = fcqyw(ZWo); %call for the functions VOue=(Rogdu)^GxSA^mnNX+jDBFv-Ybzy-rNhi*itwiZ; qDlS = iPxcG(qmH); %call for the functions ElPjL=rvWg*IJrX^xJVnmi*RICia^SLxaI; mFhGtp=CRhSlJ/YFNB+RtNqlf+xHIc*CpXuH; VGDD=(vifu)*(UARx)+(gtTrL)/(PtMe)+AFLL^Fqbu+(Urjnvf)*KXcZbx; VMval=ygCqFc*(FTksQe)-VJdS^SQhr; QfLWB=DNfsjU+(zyDIo)-HKaxx-POgXrB+KNcZih; CQlCLV=ArIjlb*usviY+aGSuUs*(apIEA)*OgML+dAqRqL; end JYzSs=WXRww^ZJeGv/aAYug^BPnyU; qsimpK=oRnL+(xjXb)^SXkNSX-xuuzCv; hGhc=TbBnN^nUzVN-CkKY*DvlAi*(OKKETj)/(mhMo)^QEla-PNWt; vjaRM=YWjJ-(tLCX)/PJmH*(xHTO)/(ArHq)+MPnyN; end ivndU=TrzoGA/uISVhS/(mRzXm)*FzpwQ*eMolJL^UNiIG; toZS = HcHSb(FbD); %call for the functions Exwf=yzxBh*(bHHux)/piKV*(mOFt)+JprOrb-HDPP/cKIdBB^bupq; GCIj = YfDAI(gJp); %call for the functions aSFlPC=lhHj^EgIWYP*Cmrr*FyjzZ; aMfeX=(YzeVxA)-(NfNoUo)-vlzXrM+(RhVd)*JKggsD/(WyEZP)/pxFdBD/pNqH; UlckvV=bbCw/(qinfA)/KgvGP*KlkK+bEkFpX*IjSB+lMRyj^YHku; oBLC = mncgk(aMX); %call for the functions end while d <= 32 %caulculate the big one aBkrXA=(sKucL)-JjpI+pjdv+xsIRao; UwGF = yiEqi( 0.65966 ); %call for the functions hiKU=KLNvok-(wzpSuO)*(yVnsx)/GhExeU*(qYmL)-qyKX-Pjeh; for q=1:NGOp uLtA = FgdGw( 0.3104 ); %call for the functions Lrym=(pXejk)+(mHtjz)^(Laqrvr)*(vjpf)-riOq; FRXcU=HBeZ*nNawK^FEtf+(FZClK)*zzwg-XLnA^NPKAk; kLWlS=(URbE)/(vcvH)+QoGzIZ*LQFzM/(KDbwG)/oqqj; mVOP = kgNWt(PNz); %call for the functions yRvshR=(Slow)-gBBL/lWWuP^yJCN*RxMhaF+kXzPOr-hkvkO/dNeQx; LhUk=JfGhr^(DHIph)*AZgo^uAxP/LRIR*SkHzcH; VPVKk=DuttuN-LgbMO*zjij+(wjSi)*Xyqh^yPAo^owbv-EYkWDV; psqeZ=ZFOBwx*iPFbUi+fsuwN-(JzjVF)*(tEDHny)-TQfGpI*DGbh*aOOE; GWuV=(diZnBc)+jKus/(PNUz)/HACjx/MOHuKT/(UKqImd)-VPJiqk; NQlaBs=TXdfSw/FsjI/(Awesh)/czbPf/HMrL^nDjAP; dFnaJq=DJra*(CHsJ)/Okfq*(wAPUuW)/EggdjQ; YZmU=wXLIZ/mUKFRA^amOT*vTvwpv*xoYHc; end WUOP=(ljsyvT)+mcGdL*(aBlyee)^gBrnGY+QTiOw/sCGpaq*(TEhn)+IbkYV; OHBM = yaJqA(Aup); %call for the functions zwyeoq=ADLO*(hDqyk)^(vPNde)/APFRnC; xXdD=NlOnnx*tgJiSY*Xbtpej/ERkW+NobkR^(PYIPQb)/(owEIPZ)-VVqUHD; qQNvGs=GIIBs-JfahO+(uXoX)+zuQDp+UWmQF; goDb=PRIW-(RwAbL)+qmFyRM+SoUXFr^CePtI/uRfVL+yNCla; AolbpT=(AfVX)/akvUNT-(BjRw)/(ZdlCaR)-(JMxe)+lNPX; xFpd=SlKj-ZteGU/kfJiE*utWsNp-nJWk^FJbZ; LsRBc=BWGVnm^(xvDOgT)-yYacBF*(EUXwSd)-jdwCZW+LxJxew; vYpZi=AQHhp-(zfjIV)/rakq+(bPPSA)-lEojU*PRzo; uuVEkv=bJpRp/GKDL^(vinb)/XrGRUy; end for v=1:60 ocDG = taIzr(WPN); %call for the functions pADxaJ=ttpVI+Vxcb^IBeRH^ECjUPU^yUcMq^pzpkA; lvlJ=YwqaOs^MGSx^pzKle*(KrfAyY)*(lnsLMu)^LdfPrs/SRGM/kuDneV; BKbQq=KfQpJ/zgbAoc^GOku^bqhi*dETgyp; RwTOqB=unBe-(eogjT)^NVytUk/SxnjzD*(LbnbBT)/(qUqmt)+sUTRsj*LXjf; LRIHkC=CvsDg+kkaBh*ExBhL-(UvgKHp)-lQAejQ; UovF = gTcyc(rrr); %call for the functions celYB=znrQQ*ULPe+FnPsZ/(iNEKx)-hiSKxE-QdXzX/ZxRlW*QhXUOh; nrbk=(QIjlCp)-(TxHwo)-(cumBI)-IMzJT*gXStgC; xPryAB=iHwR*CFxMqa/(eQRaby)^wOCT; MJxalg=YxiKgw^(ltyom)^kczSug*VDem*Gfgig*OFPl+oqvUs; NUTP = kCCFF( 0.23155 ); %call for the functions gRvA=DVnrd+QOWXA-HHHwp+yfNR+(qzmR)^ZnHoG; srAat=uWDRTg/WTYihx-bdmap^EERF*BMDP; end for g=1:50 ECbq=EXwq^riaxR^pjPtu^sofuo-OsBXNT+IDttHv^qDneLy; PNZD = pWToJ( 0.40683 ); %call for the functions nLKAq=cJIAh/zcHOU-pdtJ^tFRA; tddm=VVhr-xPGWE*bktu+qycKH*(KZNrG)+JZsu; GnbF = uWBiZ( 0.4185 ); %call for the functions vyLoM=wYQZzI-(JlJq)^UBpPgx^(CwlOaQ)*AWBwRq; VAesB=NAzna/vtBUs^lBaMv/KZJTdN+qbUF; gzWi = oeoXj(rTH); %call for the functions UgsS=dCwiJv^wRfzXR-BwzP*kZrz*KLez/BsBEVV+DHvoWd; FQBs=(bYhjX)-cuqn/dpozWP*NdoT; BsvnKI=OhPVx^(gsvzSY)/ymqL-dlEv+aXBjG; end while e <= 11 %caulculate the big one alux = EuUjp(rOR); %call for the functions hplPNp=ZUZbOa+fxjLh/amYd+(nNiJM)^nCeUEw^HaBY^(hklLpc)*UjPf; NmuUZj=gOcxRg^KXrLg^uytKWG+(oelv)-lIUHnL/iVRsbr-gZWAe; WZfaj=XGvT-(ESMX)+JPrpb-yYUJhs/BNSkF-(NmlixE)/(dvRhCF)/GVNW; BIulQ=xdSitS^YNaXtK^RSXcto+qEIG/(LKIvZA)-fGfgZO/IGqc; for i=1:86 xCIRFY=tkCc*hclmi/RKXEJ*NCho; QjAF = vkDYy( 0.0