Research Article
Application of Multiparameter Kalman Filter in Ultrasonic Water Meter
longitude_fil(1) = y(1); | p_fil(1) = 1; | for t = 2:n | longitude_pre(t) = a longitude_fil(t-1); | p_pre(t) = a p_fil(t-1) + a’P; | K(t) = p_pre(t)H’inv(Hp_pre(t)H’ + Q); | longitude_fil(t) = longitude_pre(t) + K(t)(longitude(t)-Hlongitude_pre(t)); | p_fil(t) = (1-K(t)H)p_pre(t); | end | for i =1:n | Err1(i) = RMS(y(i), longitude(i)); | Err2(i) = RMS(y(i), longitude_fil(i)); | end |
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