✅作者简介热爱科研的Matlab仿真开发者擅长毕业设计辅导、数学建模、数据处理、程序设计科研仿真。完整代码获取 定制创新 论文复现点击Matlab科研工作室 关注我领取海量matlab电子书和数学建模资料个人信条做科研博学之、审问之、慎思之、明辨之、笃行之是为博学慎思明辨笃行。 内容介绍一、引言在对自行车运动进行监测时由于传感器噪声以及实际环境干扰获取的自行车在 X、Y 方向上的位置测量值往往存在误差。扩展卡尔曼滤波器EKF作为一种处理非线性系统状态估计的有效工具能够在这种嘈杂测量情况下较为准确地估计自行车的真实位置。本文将详细阐述如何设计并应用扩展卡尔曼滤波器来实现这一目标。二、自行车运动模型构建一状态空间模型⛳️ 运行结果 部分代码% Written by Professor Mark Mueller, UC Berkeley%%% Evaluate a provided solution against many tests.%%% Provide the index of the experimental run you would like to use. Note% that using 0 means that you will load the measurement calibration data.%%%% Here, we run your estimators initialization%clear all;clc;% provide the index of the experimental runsexperimentalRun0 100;experimentalRunf 120;totalError 0;for experimentalRun experimentalRun0:(experimentalRunf-1),fprintf([Run , num2str(experimentalRun)])filename [evaluationData/run_ num2str(experimentalRun,%03d) .csv];experimentalData csvread(filename);internalState estInitialize();%%% Here we will store the estimated position and orientation, for later% plotting:numDataPoints size(experimentalData,1);estimatedPosition_x zeros(numDataPoints,1);estimatedPosition_y zeros(numDataPoints,1);estimatedAngle zeros(numDataPoints,1);dt experimentalData(2,1) - experimentalData(1,1);for k 1:numDataPointst experimentalData(k,1);gamma experimentalData(k,2);omega experimentalData(k,3);measx experimentalData(k,4);measy experimentalData(k,5);%run the estimator:[x, y, theta, internalState] estRun(t, dt, internalState, gamma, omega, [measx, measy]);%keep track:estimatedPosition_x(k) x;estimatedPosition_y(k) y;estimatedAngle(k) theta;end% make sure the angle is in [-pi,pi]estimatedAngle mod(estimatedAnglepi,2*pi)- pi;posErr_x estimatedPosition_x - experimentalData(:,6);posErr_y estimatedPosition_y - experimentalData(:,7);angErr mod(estimatedAngle - experimentalData(:,8) pi, 2*pi) - pi;ax sum(abs(posErr_x))/numDataPoints;ay sum(abs(posErr_y))/numDataPoints;ath sum(abs(angErr))/numDataPoints;score ax ay ath;fprintf([ pos x num2str(ax) m ]);fprintf([ pos y num2str(ay) m ]);fprintf([ angle num2str(ath) rad ]);% our scalar scorefprintf([Average score: num2str(score) ]);fprintf(\n);totalError totalError score;endfprintf(\n);fprintf([Total score ,num2str(totalError),\n]) 参考文献更多免费数学建模和仿真教程关注领取