Location Based Trajectory centralized Kalman filter algorithm and its error are analyzed in detail.

EKF_Localization_Robot_Simulation-master
........................................\.gitattributes
........................................\.gitignore
........................................\IMUVisualizer
........................................\.............\IntegrateOneStepOfAttitude.m
........................................\.............\LoadandShowGyros4010.m
........................................\LaserMeasurementMapping
........................................\.......................\ExampleProcessLaserData.m
........................................\.......................\Laser__2.mat
........................................\.......................\MyProgram.m
........................................\.......................\OOI.mat
........................................\.......................\failures
........................................\.......................\........\ExampleProcessLaserData_2.m
........................................\.......................\........\ExampleProcessLaserData_up.m
........................................\.......................\........\ExampleProcessLaserDatav2.m
........................................\.......................\........\Laser_jordans.m
........................................\.......................\p3_plotting.m
........................................\Project1_EKFimplementation
........................................\..........................\Program
........................................\..........................\.......\Project1Part3.m
........................................\..........................\.......\polygeom
........................................\..........................\.......\........\3x5_rectangle.jpg
........................................\..........................\.......\........\license.txt
........................................\..........................\.......\........\polygeom.doc
........................................\..........................\.......\........\polygeom.m
........................................\..........................\.......\........\read_me.txt
........................................\..........................\.......\........\test_polygeom.m
........................................\..........................\different_EKF_try
........................................\..........................\.................\Part1.m
........................................\..........................\.................\Part2.m
........................................\Project2_EKFimplementation_addedBias
........................................\....................................\API_PossumUGV.p
........................................\....................................\API_Possum_LowLevel.p
........................................\....................................\Part2.m
........................................\....................................\Project1Part3.m
........................................\....................................\Project1Part3_with_shift.m
........................................\....................................\Project1Part3_with_shift_2.m
........................................\....................................\Project1Part3p2.m
........................................\....................................\Project2_p2.m
........................................\....................................\different_EKFbias_try
........................................\....................................\.....................\Project2_p1.m
........................................\....................................\.....................\Project2_p2.m
........................................\....................................\possumDB.mexw32
........................................\....................................\possumDB.mexw64
........................................\oldDemoEKF
........................................\..........\DemoEKF_2014.m
........................................\..........\DemoEKF_2014_edited.m
........................................\...

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