Cree una plantilla de modelo de sensor utilizando la función de objeto insCreateMotionModel . Especifique el nombre de la clase como newSensorModel.
En el editor MATLAB , se abre un archivo sin título con su definición de clase. Después de modificar la definición de clase, guarde el archivo de clase y use un objeto de la clase con el objeto insEKF .
classdef newSensorModel < positioning.INSMotionModel
%newSensorModel Template for motion model using insEKF
% Customize this motion model and use it with the insEKF to fuse
% data.
%
% Example:
% filt = insEKF(newSensorModel);
%
% See also insEKF, positioning.INSMotionModel.
% Generated on 13-Mar-2022 11:37:21
properties (Constant)
State1Length = 1 % Length of motion model state State1
State2Length = 2 % Length of motion model state State2
end
methods
function s = modelstates(motion, opts)
%modelstates Define the tracked states for this motion model
% MODELSTATES returns a struct which describes the
% states used by this motion model and tracked by the insEKF
% filter object. The field names describe the individual state
% quantities, and you can access the estimates of those
% quantities through the statesparts function. The values of
% the struct determine the size and default values of the
% state vector. The input OPTS is the insOptions object used
% to build the filter.
%
% See also insEKF, positioning.INSMotionModel.
% Preallocate a struct with fields State1 and State2.
% Overwrite the fields with different default values if
% needed.
s = struct("State1", zeros(1, motion.State1Length, opts.Datatype), ...
"State2", zeros(1, motion.State2Length, opts.Datatype));
end
function statesdot = stateTransition(motion, filt, dt, varargin)
%stateTransition State transition for motion states
% STATETRANSITION returns a struct with identical fields
% as the output of the modelstates function. The
% returned struct describes the per-state transition function
% for the motion model states.
%
% This function is called by the insEKF object FILT when the
% PREDICT method of the FILT function is called. The DT and
% varargin inputs are the corresponding inputs to the
% predict method of the insEKF object.
%
% *** THIS METHOD IS OPTIONAL ***
% If you delete this method, the model states will be
% constant. In this case, also delete the
% stateTransitionJacobian method.
%
% See also insEKF, positioning.INSMotionModel.
% Set statesdot.State1 to the derivative of State1 with
% respect to time. If State1 is constant overtime, leave the
% following line unchanged.
statesdot.State1 = zeros(1, motion.State1Length, "like", filt.State);
% Set statesdot.State2 to the derivative of State2 with
% respect to time. If State2 is constant overtime, leave the
% following line unchanged.
statesdot.State2 = zeros(1, motion.State2Length, "like", filt.State);
end
function dfdx = stateTransitionJacobian(motion, filt, dt, varargin)
%stateTransitionJacobian Jacobian of the stateTransition function
% STATETRANSITIONJACOBIAN returns a struct with identical
% fields as modelstates and describes the Jacobian of the
% per-state transition function relative to the State
% property of FILT. Each field value of STATESDOT should be a
% M-by-numel(FILT.State) row vector, representing the partial
% derivatives of that field's state transition function
% relative to the state vector.
%
% This function is called by the insEKF object FILT when the
% PREDICT method of the FILT function is called. The DT and
% varargin inputs are the corresponding inputs to the
% predict method.
%
% *** THIS METHOD IS OPTIONAL ***
% If this method is not implemented, a numerical Jacobian
% will be used instead.
%
% See also insEKF, positioning.INSMotionModel.
N = numel(filt.State);
dfdx.State1 = zeros(motion.State1Length, N, "like", filt.State);
dfdx.State2 = zeros(motion.State2Length, N, "like", filt.State);
% Create indexing
s1idx = stateinfo(filt, "State1");
s2idx = stateinfo(filt, "State2");
% Uncomment the line below, and set dfdx.State1 to the
% Jacobian of the stateTransition function with respect to
% the State property of the filter object filt. Use s1idx to
% index the columns of dfdx.State1.
% % dfdx.State1(:,s1idx) =
% Uncomment the line below, and set dfdx.State2 to the
% Jacobian of the stateTransition function with respect to
% the State property of the filter object filt. Use s2idx to
% index the columns of dfdx.State2.
% % dfdx.State2(:,s2idx) =
end
end
end
% [EOF]
