Conversion of C code to matlab code

I have a piece of code (arduino code) and I need to change it into MATLAB code. And I donot know how to do that. Can somebody please guide me.

This is the code.

oid KalmanFilterInit() {

Q_GPSHeading1 = 0.001f;

Q_GPSHeadingBias = 0.003f;

R_CompassMeasure = 0.03f;

GPSHeading1 = 0.0f;

GPSHeadingBias = 0.0f;

P[0][0] = 0.01f;

P[0][1] = 0.01f;

P[1][0] = 0.01f;

P[1][1] = 0.01f;

}

void KalmanFilter() {

float GPSTimePrev = millis();

float dt = millis() - GPSTimePrev ;

//Updating estimatio error covariance & projecting the error covariance ahead

P[0][0] += dt * (dt * P[1][1] - P[0][1] - P[1][0] + GPSHeading1);

P[0][1] -= dt * P[1][1];

P[1][0] -= dt * P[1][1];

P[1][1] += GPSHeadingBias * dt;

//Calculating the Kalman Gain

float S = P[0][0] + R_CompassMeasure; //(estimating the error)

K[0] = P[0][0] / S;

K[1] = P[1][0] / S;

//Update estimation into the measurement zk

float KalmanY = CompassHeading - GPSHeading;

GPSHeading1 += K[0] * KalmanY;

GPSHeadingBias += K[1] * KalmanY;

//Calculating the estimation error covariance

float P00_Prime = P[0][0];

float P01_Prime = P[0][1];

P[0][0] -= K[0] * P00_Prime;

P[0][1] -= K[0] * P01_Prime;

P[1][0] -= K[1] * P00_Prime;

P[1][1] -= K[1] * P01_Prime;

AbsGPSHeading1 = abs (GPSHeading1);

return AbsGPSHeading1;

}

Answer 1

[Haritha]

Hi,

Check this link C code to matlab