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Particle filter and PCRB for terrain-aided navigation

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from Particle filter and PCRB for terrain-aided navigation by Sebastien PARIS
Demo for terrain-aided navigation by particle filter

modelFQ(Fmodel , Qmodel , dt , cov_q , d) 
function [F , Q]       = modelFQ(Fmodel , Qmodel , dt , cov_q , d)


[m , K1 , N] = size(dt);

F            = zeros(d , d , K1 , N);

Q            = zeros(d , d , K1 , N);

for i = 1:N

    for j = 1:K1

        F(: , : , j , i) = Fmodel(dt(1,j , i));

        Q(: , : , j , i) = Qmodel(dt(1,j , i) , cov_q);
        
    end

end

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