Application of Multiparameter Kalman Filter in Ultrasonic Water Meter

Code 1

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