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    曙海教育集團論壇開發語言培訓專區VB語言 → vb語言實現的卡爾曼濾波源程序


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    主題:vb語言實現的卡爾曼濾波源程序

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    vb語言實現的卡爾曼濾波源程序  發帖心情 Post By:2010-12-14 14:47:56

    (沒有測試,輸出部分要配合相應的過程)

    Dim num1, num2, num3
    Dim a(), a1(), e() As Single
    Dim alf, xgm(), p(), k1(), k2, k(), p1(), p2(), c(), c1, k3(), k4(), cc() As Single
    Private Sub Command1_Click()
    CommonDialog1.ShowOpen
    Open CommonDialog1.FileName For Input As #1
    num3 = Val(Text1.Text) + 2
    num2 = Val(Text2.Text)
    ReDim a(num3, num2)
    For j = 1 To num3
    For i = 1 To num2
    Input #1, a(j, i)
    Next i
    Next j
    Close #1

    End Sub

    Private Sub Command2_Click()
    CommonDialog1.ShowSave
    Open CommonDialog1.FileName For Append As #2

    For i = 1 To num2
    Print #2, cc(i, 1), cc(i, 2), cc(i, 3)
    Next i

    Close #2
    Shell "c:\windows\notepad " & CommonDialog1.FileName
    End Sub

    Private Sub Command3_Click()

    num1 = Val(Text1.Text) + 1
    num2 = Val(Text2.Text)
    num3 = Val(Text1.Text) + 2
    ReDim a1(num2), e(num1, num2) As Single
    ReDim xgm(num1), p(num1, num1), k1(num1), k(num1), p1(num1, num1), p2(num1, num1), c(num1), k3(num1), k4(num1), cc(num2, num1) As Single





    c(1) = c(2) = c(3) = 0
    r = 0.000001
    alf = 10
    For j = 1 To num1
    For i = 1 To num2
    e(j, i) = a(j, i)
    a1(i) = a(num3, i)
    Next i
    Next j
    For x = 1 To num1
    xgm(x) = alf * Sqr(r / e(x, 1))
    p(x, x) = xgm(x) ^ 2
    Next x

    For q = 1 To num2
    For i = 1 To num1
    k3(i) = k4(i) = 0
    Next i
    k2 = 0
    For i = 1 To num1
    For j = 1 To num1
    p1(i, j) = p2(i, j) = 0
    Next j
    Next i
    c1 = 0

    For m = 1 To num1
    k3(m) = 0
    For n = 1 To num1
    k3(m) = k3(m) + e(n, q) * p(n, m)
    Next n
    Next m

    For m = 1 To num1
    k4(m) = 0
    k4(m) = k4(m) + 1000 * k3(m) * e(m, q)
    Next m

    For i = 1 To num1
    k2 = k2 + k4(i)
    Next i

    For v = 1 To num1
    k(v) = 0
    k(v) = k3(v) * (k2 / 1000 + r) ^ -1
    Next v

    For i = 1 To num1
    For j = 1 To 3
    p1(i, j) = k(i) * e(j, q)
    Next j
    Next i

    For l = 1 To num1
    For i = 1 To num1
    p2(l, i) = 0
    For j = 1 To num1

    p2(l, i) = 1000 * p1(l, j) * p(j, i) + p2(l, i)
    Next j
    Next i
    Next l

    For i = 1 To num1
    For j = 1 To num1
    p(i, j) = p(i, j) - p2(i, j) / 1000
    Next j
    Next i

    For i = 1 To num1
    c1 = c1 + e(i, q) * c(i)
    Next i
    For i = 1 To num1
    c(i) = c(i) + k(i) * (a1(q) - c1)

    Next i


    For i = 1 To num1

    cc(q, i) = c(i)
    Next i
    Next q

    End Sub

    Private Sub Command4_Click()
    End
    End Sub

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