Start
end
end
Go back to Start | //// Comments
//// q is the number of the sigma point //// draw the sigma points
//// 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 to obtain their a priori measurements
//// combining the sigma pointsâ€™ 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 |