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extended Kalman Filter(EKF) for GPS

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extended Kalman Filter(EKF) for GPS

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19 May 2011 (Updated )

An easy-to-implement function of the Extended Kalman Filtering with a GPS positioning example

Delta_Rho_Compute(Rhoc, SV_Pos, Rcv_Pos, b)
% Called by Rcv_Pos_Compute to compute the delta_rho.
function [Delta_Rho] = Delta_Rho_Compute(Rhoc, SV_Pos, Rcv_Pos, b)

[m, n] = size(SV_Pos);
for i = 1:m
    Rho0 = norm(SV_Pos(i,:) - Rcv_Pos) + b;
    Delta_Rho(i,1) = Rhoc(i) - Rho0;
end

end

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