my own coding vehicle state estimation model, use EKF and 3-DOF vehicle dynamics model.

Packet : 3DOF_ekf.zip filelist
3DOF_ekf/
3DOF_ekf/ekf.m
3DOF_ekf/freedom3.mdl
3DOF_ekf/freedom3.mdl.r14 (sp3)
3DOF_ekf/freedom3.slxc
3DOF_ekf/kalmancanshu.m
3DOF_ekf/myMeasurementFcn.m
3DOF_ekf/myStateTransitionFcn.m
3DOF_ekf/slprj/
3DOF_ekf/slprj/_sfprj/
3DOF_ekf/slprj/_sfprj/EMLReport/
3DOF_ekf/slprj/_sfprj/EMLReport/emlReportAccessInfo.mat
3DOF_ekf/slprj/_sfprj/EMLReport/s9gABcL2E30Zw0aWYKoI2mF.mat
3DOF_ekf/slprj/_sfprj/EMLReport/sHTFZ58nd927PQ9aHXxTjZD.mat
3DOF_ekf/slprj/_sfprj/EMLReport/sOMWsE6K0ySisUl0KfPwnDG/
3DOF_ekf/slprj/_sfprj/EMLReport/sOMWsE6K0ySisUl0KfPwnDG/report.mldatx
3DOF_ekf/slprj/_sfprj/EMLReport/sOMWsE6K0ySisUl0KfPwnDG.mat
3DOF_ekf/slprj/_sfprj/EMLReport/sYmPxb6YIHUcDIoL7nS0baD.mat
3DOF_ekf/slprj/_sfprj/EMLReport/sf5KixGDPz8ZXmUSA8gCnPC/
3DOF_ekf/slprj/_sfprj/EMLReport/sf5KixGDPz8ZXmUSA8gCnPC/report.mldatx
3DOF_ekf/slprj/_sfprj/EMLReport/sf5KixGDPz8ZXmUSA8gCnPC.mat
3DOF_ekf/slprj/_sfprj/EMLReport/sgdf5YDYN86WKieAM0UdFq.mat
3DOF_ekf/slprj/_sfprj/EMLReport/vD0Sk5rPVusIzdBg0PQKeB.mat
3DOF_ekf/slprj/sim/
3DOF_ekf/slprj/sim/varcache/
3DOF_ekf/slprj/sim/varcache/freedom3/
3DOF_ekf/slprj/sim/varcache/freedom3/checksumOfCache.mat
3DOF_ekf/slprj/sim/varcache/freedom3/tmwinternal/
3DOF_ekf/slprj/sim/varcache/freedom3/tmwinternal/simulink_cache.xml
3DOF_ekf/slprj/sim/varcache/freedom3/varInfo.mat
3DOF_ekf/untitled.slx.autosave
3DOF_ekf/untitledEKF_matlabfunction.slx
3DOF_ekf/三自由度/
3DOF_ekf/三自由度/myStateTransitionFcn.m
3DOF_ekf/三自由度/新建文本文档.txt
3DOF_ekf/三自由度.zip

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