Start
Calculate
End
Calculate
End
Go back to Start | ////Comments
//// q is the number of the sigma point //// draw the sigma points and their weights using Table 2 //// propagate the points through the filter //// combining the sigma points to obtain the a priori estimate //// calculating the a priori covariance matrix
//// Redefine the sigma point and their weight from Table 2 to obtain their a priori measurements
//// combining the sigma points’ measurements to obtain the a priori measurement //// Calculating the output's error covariance matrix
//// The correction gain //// Updating the estimate and its covariance matrix
//// Repeat Stages |