GitHub - ManuelMeraz/ExtendedKalmanFilter: Implementation of the Extended Kalman Filter algorithm to localize a mobile robot

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Implementation of the Extended Kalman Filter algorithm to localize a mobile robot

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Name		Name	Last commit message	Last commit date
Latest commit History 12 Commits
EKF.m		EKF.m
adjustSigma.m		adjustSigma.m
computeKalmanGain.m		computeKalmanGain.m
correctSigma.m		correctSigma.m
correction.m		correction.m
error_elipse.m		error_elipse.m
inputs.txt		inputs.txt
motionModel.m		motionModel.m
normal_ekf.png		normal_ekf.png
readme.txt		readme.txt
sensor_readings.txt		sensor_readings.txt
sporadic_ekf.png		sporadic_ekf.png
sporadic_sensor_readings.txt		sporadic_sensor_readings.txt

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run EKF.m as main

Mu and Sigma are printed out at every iteration with the time

The scatter plot contains mu with an elipsoid drawn around it at every point

I got my ellipsoid drawing code from here: https://www.mathworks.com/matlabcentral/fileexchange/4705-error-ellipse