problem in matrix dimension

error in matrix dimension , this code use extended kalman filter for fusion radar and lidar sensor

[houssem alimi]

can someone help me ???

[Bob Thompson]

Can you post the entire error message please?

[houssem alimi]

Error using *

Inner matrix dimensions must agree.

Error in extkflid (line 64)

X = X+ K*Y-(H_Lidar*X)

Answer 1

[Bob Thompson]

I think that your issue is with K*Y. As best I can tell, K is 3x3, while Y is 2x2, so it is not possible to do matrix multiplication with two arrays of these sizes.

[houssem alimi]

so what can I do

[madhan ravi]

K(:)*(Y(:)).' % this will stop the error but no idea if it will get you the desired result

[houssem alimi]

Error using  + 
Matrix dimensions must agree.

Error in extkflid (line 64)
    X = X+ K(:)*(Y(:)).'-(H_Lidar*X)

[Bob Thompson]

So X is 4x1, H_Lidar*X is 3x1, and K*Y is something. You're getting the error because the rules of matrix math won't allow this type of operation.

As for fixing it, the best I can offer is to make sure you have your equations correct, and that your matrices are the correct size. Unfortunately, I can't help much with that because I don't know what you're really trying to accomplish with this script.

[houssem alimi]

for obtaining sensor fusion thanks to extended kalman filter

[Bob Thompson]

Yeah, I am unfamiliar with what that means.

Again, my suggestion is to go back and double check that the math and matrix sizes are what they should be based on hand calculations. If everything does compare with hand calculations, then I would suggest backing it out a bit further, and checking the original math.