J'essaie de trouver la position 3D en utilisant le filtre de Kalman .Kindly ce serait si gentil si quelqu'un s'il vous plaît aidez-moi comment je peux modifier mon code 1D en 3D. Je suis confus au sujet de ce filtre.Matlab Kalman Filter pour 3D Position
i = 100; % time points
s=[i, 1]; % size
r=22; % actual value
Q=4e-5; % variance
R=0.23; % measurement variance
m = r + sqrt(R)*randn(s); % measured value
v_est=zeros(s); % estimated variace :taken after measurment
x_hat_minus=zeros(s); %estimation before measurment at n-1 step
v_minus_est=zeros(s); % variance estimated before measurments
K=zeros(s); % Kalman factor
x_hat(1) = 21.5; % estimation starts at this value
v_est(1) =1; % error in variance
for n = 2:i
% step:1 time update
x_hat_minus(n) = x_hat(n-1); %estimating the current value based on previous estimations
v_minus_est(n) = v_est(n-1)+Q; %variance prediction
% step 2: Measurement Update
K(n) = v_minus_est(n)/(v_minus_est(n)+R); %calculating kalman factor
x_hat(n) = x_hat_minus(n)+K(n)*(m(n)-x_hat_minus(n)); %estimation
v_est(n) = (1-K(n))*v_minus_est(n); %variance achieved in last estimation
end