
FIGURE 5.130 Simulink
®
diagram of the continuous-time Kalman filter.
0
2
×10
5
R
Rhat
1.8
1.6
1.4
1.2
1
0.8
Range and range estimate (m)
0.6
0.4
51015
Time (s)
20 25 30
FIGURE 5.131 Plot of range and range estimates (m) vs. time (s).
–4900
–4950
–5000
–5050
V
Vhat
–5100
–5150
–5200
–5250
Velocity and velocity estimate (m/s)
–5300
0 5 10 15
Time (s)
20 25 30
FIGURE 5.132 Plot of velocity and velocity estimates (m=s) vs. time (s).
446 Simulation of Dynamic Systems with MATLAB
®
and Simulink
®