functionupdateBase_sr
Bass class of update_sr-function
Extends from Modelica.Icons.Function (Icon for functions).
Inputs
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica_LinearSystems2.DiscreteStateSpace.Internal.hBase | hSigma | ||
| Real[:] | xpre | Estimated vector of previous instant | |
| Real[:] | upre | Input at instant k | |
| Real[size(xpre, 1),size(xpre, 1)] | CfPpre | Error covariance matrix of the previous instant | |
| Real[:,size(CfR, 1)] | CfR | Covariance matrix of the measurement noise | |
| Real | alpha | 1 | Spread of sigma points |
| Real | beta | 2 | Characteristic of the distribution of x |
| Real | kappa | 0 | Kurtosis scaling of sigma point distribution |
| Modelica.Units.SI.Time | Ts | Sample time |
Outputs
| Type | Name | Default | Description |
|---|---|---|---|
| Real[size(CfR, 1)] | mu | Predicted mean | |
| Real[size(CfR, 1),size(CfR, 1)] | Syy | Transformed covariance matrix | |
| Real[size(xpre, 1),size(CfR, 1)] | Rxy | Transformed cross covariance matrix |