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a Matlab code for Kalman Filter to combine GPS and Odometer

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Electrical Engineering

a Matlab code for Kalman Filter to combine GPS and Odometer

Answer & Explanation Solved by verified expert
3.9 Ratings (485 Votes)
x is the GPS behavior in this case a sinus wave with the following formulation xtimesinfrec time1time1 ramdom error signalsigmav frectimefrec time1 x is the predicted state this is where Kalman filter will come and where we will correct our estimations using an observation z is the observation of the Odometer in this case corresponding only to the position at a given time Note that this observation is subject to an error therefore the resulting equation is ztimextimeramdom errorsigmaw Our first prediction will come from the plant ideal behavior then using the observations and error covariance we will obtain a    See Answer
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