Model { Name "ins5" Version 7.0 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.117" NumModelReferences 0 NumTestPointedSignals 0 } SavedCharacterEncoding "UTF-8" SaveDefaultBlockParams on SampleTimeColors off LibraryLinkDisplay "none" WideLines off ShowLineDimensions off ShowPortDataTypes off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowViewerIcons on SortedOrder off ExecutionContextIcon off ShowLinearizationAnnotations on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off Created "Wed Jun 20 12:21:09 2007" Creator "peter" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "peter" ModifiedDateFormat "%" LastModifiedDate "Wed Apr 16 08:19:19 2008" RTWModifiedTimeStamp 0 ModelVersionFormat "1.%" ConfigurationManager "None" SimulationMode "normal" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF off RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off CovReportOnPause on ExtModeBatchMode off ExtModeEnableFloating on ExtModeTrigType "manual" ExtModeTrigMode "normal" ExtModeTrigPort "1" ExtModeTrigElement "any" ExtModeTrigDuration 1000 ExtModeTrigDurationFloating "auto" ExtModeTrigHoldOff 0 ExtModeTrigDelay 0 ExtModeTrigDirection "rising" ExtModeTrigLevel 0 ExtModeArchiveMode "off" ExtModeAutoIncOneShot off ExtModeIncDirWhenArm off ExtModeAddSuffixToVar off ExtModeWriteAllDataToWs off ExtModeArmWhenConnect on ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock off BufferReuse on ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 1 Version "1.3.0" Array { Type "Handle" Dimension 7 Simulink.SolverCC { $ObjectID 2 Version "1.3.0" StartTime "0.0" StopTime "450" AbsTol "auto" FixedStep "auto" InitialStep "auto" MaxNumMinSteps "-1" MaxOrder 5 ConsecutiveZCsStepRelTol "10*128*eps" MaxConsecutiveZCs "1000" ExtrapolationOrder 4 NumberNewtonIterations 1 MaxStep "auto" MinStep "auto" MaxConsecutiveMinStep "1" RelTol "1e-3" SolverMode "Auto" Solver "ode45" SolverName "ode45" ZeroCrossControl "UseLocalSettings" AlgebraicLoopSolver "TrustRegion" SolverResetMethod "Fast" PositivePriorityOrder off AutoInsertRateTranBlk off SampleTimeConstraint "Unconstrained" RateTranMode "Deterministic" } Simulink.DataIOCC { $ObjectID 3 Version "1.3.0" Decimation "1" ExternalInput "[t, u]" FinalStateName "xFinal" InitialState "xInitial" LimitDataPoints on MaxDataPoints "1000" LoadExternalInput off LoadInitialState off SaveFinalState off SaveFormat "Array" SaveOutput on SaveState off SignalLogging on InspectSignalLogs off SaveTime on StateSaveName "xout" TimeSaveName "tout" OutputSaveName "yout" SignalLoggingName "logsout" OutputOption "RefineOutputTimes" OutputTimes "[]" Refine "1" } Simulink.OptimizationCC { $ObjectID 4 Array { Type "Cell" Dimension 5 Cell "ZeroExternalMemoryAtStartup" Cell "ZeroInternalMemoryAtStartup" Cell "InitFltsAndDblsToZero" Cell "OptimizeModelRefInitCode" Cell "NoFixptDivByZeroProtection" PropName "DisabledProps" } Version "1.3.0" BlockReduction on BooleanDataType on ConditionallyExecuteInputs on InlineParams off InlineInvariantSignals off OptimizeBlockIOStorage on BufferReuse on EnforceIntegerDowncast on ExpressionFolding on ExpressionDepthLimit 2147483647 FoldNonRolledExpr on LocalBlockOutputs on RollThreshold 5 SystemCodeInlineAuto off StateBitsets off DataBitsets off UseTempVars off ZeroExternalMemoryAtStartup on ZeroInternalMemoryAtStartup on InitFltsAndDblsToZero on NoFixptDivByZeroProtection off EfficientFloat2IntCast off OptimizeModelRefInitCode off LifeSpan "inf" BufferReusableBoundary on SimCompilerOptimization "Off" AccelVerboseBuild off } Simulink.DebuggingCC { $ObjectID 5 Version "1.3.0" RTPrefix "error" ConsistencyChecking "none" ArrayBoundsChecking "none" SignalInfNanChecking "none" SignalRangeChecking "none" ReadBeforeWriteMsg "UseLocalSettings" WriteAfterWriteMsg "UseLocalSettings" WriteAfterReadMsg "UseLocalSettings" AlgebraicLoopMsg "warning" ArtificialAlgebraicLoopMsg "warning" SaveWithDisabledLinksMsg "warning" SaveWithParameterizedLinksMsg "none" CheckSSInitialOutputMsg on CheckExecutionContextPreStartOutputMsg off CheckExecutionContextRuntimeOutputMsg off SignalResolutionControl "UseLocalSettings" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" TimeAdjustmentMsg "none" MaxConsecutiveZCsMsg "error" SolverPrmCheckMsg "warning" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskDSMMsg "error" MultiTaskCondExecSysMsg "error" MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" TasksWithSamePriorityMsg "warning" SigSpecEnsureSampleTimeMsg "warning" CheckMatrixSingularityMsg "none" IntegerOverflowMsg "warning" Int32ToFloatConvMsg "warning" ParameterDowncastMsg "error" ParameterOverflowMsg "error" ParameterUnderflowMsg "none" ParameterPrecisionLossMsg "warning" ParameterTunabilityLossMsg "warning" UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" InvalidFcnCallConnMsg "error" FcnCallInpInsideContextMsg "Use local settings" SignalLabelMismatchMsg "none" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" SFcnCompatibilityMsg "none" UniqueDataStoreMsg "none" BusObjectLabelMismatch "warning" RootOutportRequireBusObject "warning" AssertControl "UseLocalSettings" EnableOverflowDetection off ModelReferenceIOMsg "none" ModelReferenceVersionMismatchMessage "none" ModelReferenceIOMismatchMessage "none" ModelReferenceCSMismatchMessage "none" ModelReferenceSimTargetVerbose off UnknownTsInhSupMsg "warning" ModelReferenceDataLoggingMessage "warning" ModelReferenceSymbolNameMessage "warning" ModelReferenceExtraNoncontSigs "error" StateNameClashWarn "warning" StrictBusMsg "Warning" LoggingUnavailableSignals "error" } Simulink.HardwareCC { $ObjectID 6 Version "1.3.0" ProdBitPerChar 8 ProdBitPerShort 16 ProdBitPerInt 32 ProdBitPerLong 32 ProdIntDivRoundTo "Undefined" ProdEndianess "Unspecified" ProdWordSize 32 ProdShiftRightIntArith on ProdHWDeviceType "32-bit Generic" TargetBitPerChar 8 TargetBitPerShort 16 TargetBitPerInt 32 TargetBitPerLong 32 TargetShiftRightIntArith on TargetIntDivRoundTo "Undefined" TargetEndianess "Unspecified" TargetWordSize 32 TargetTypeEmulationWarnSuppressLevel 0 TargetPreprocMaxBitsSint 32 TargetPreprocMaxBitsUint 32 TargetHWDeviceType "Specified" TargetUnknown off ProdEqTarget on } Simulink.ModelReferenceCC { $ObjectID 7 Version "1.3.0" UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" CheckModelReferenceTargetMessage "error" ModelReferenceNumInstancesAllowed "Multi" ModelReferencePassRootInputsByReference on ModelReferenceMinAlgLoopOccurrences off } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 8 Array { Type "Cell" Dimension 1 Cell "IncludeHyperlinkInReport" PropName "DisabledProps" } Version "1.3.0" SystemTargetFile "grt.tlc" GenCodeOnly off MakeCommand "make_rtw" GenerateMakefile on TemplateMakefile "grt_default_tmf" GenerateReport off SaveLog off RTWVerbose on RetainRTWFile off ProfileTLC off TLCDebug off TLCCoverage off TLCAssert off ProcessScriptMode "Default" ConfigurationMode "Optimized" ConfigAtBuild off IncludeHyperlinkInReport off LaunchReport off TargetLang "C" IncludeBusHierarchyInRTWFileBlockHierarchyMap off IncludeERTFirstTime off GenerateTraceInfo off RTWCompilerOptimization "Off" Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 9 Array { Type "Cell" Dimension 16 Cell "IgnoreCustomStorageClasses" Cell "InsertBlockDesc" Cell "SFDataObjDesc" Cell "SimulinkDataObjDesc" Cell "DefineNamingRule" Cell "SignalNamingRule" Cell "ParamNamingRule" Cell "InlinedPrmAccess" Cell "CustomSymbolStr" Cell "CustomSymbolStrGlobalVar" Cell "CustomSymbolStrType" Cell "CustomSymbolStrField" Cell "CustomSymbolStrFcn" Cell "CustomSymbolStrBlkIO" Cell "CustomSymbolStrTmpVar" Cell "CustomSymbolStrMacro" PropName "DisabledProps" } Version "1.3.0" ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses on IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement off IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off IncDataTypeInIds off MangleLength 1 CustomSymbolStrGlobalVar "$R$N$M" CustomSymbolStrType "$N$R$M" CustomSymbolStrField "$N$M" CustomSymbolStrFcn "$R$N$M$F" CustomSymbolStrBlkIO "rtb_$N$M" CustomSymbolStrTmpVar "$N$M" CustomSymbolStrMacro "$R$N$M" DefineNamingRule "None" ParamNamingRule "None" SignalNamingRule "None" InsertBlockDesc off SimulinkBlockComments on EnableCustomComments off InlinedPrmAccess "Literals" ReqsInCode off } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 10 Array { Type "Cell" Dimension 15 Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "GenerateTestInterfaces" Cell "ModelStepFunctionPrototypeControlCompliant" Cell "MultiInstanceERTCode" Cell "PurelyIntegerCode" Cell "SupportNonFinite" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" Cell "PortableWordSizes" PropName "DisabledProps" } Version "1.3.0" TargetFcnLib "ansi_tfl_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" GenFloatMathFcnCalls "ANSI_C" UtilityFuncGeneration "Auto" GenerateFullHeader on GenerateSampleERTMain off GenerateTestInterfaces off IsPILTarget off ModelReferenceCompliant on CompOptLevelCompliant on IncludeMdlTerminateFcn on CombineOutputUpdateFcns off SuppressErrorStatus off IncludeFileDelimiter "Auto" ERTCustomFileBanners off SupportAbsoluteTime on LogVarNameModifier "rt_" MatFileLogging on MultiInstanceERTCode off SupportNonFinite on SupportComplex on PurelyIntegerCode off SupportContinuousTime on SupportNonInlinedSFcns on EnableShiftOperators on ParenthesesLevel "Nominal" PortableWordSizes off ModelStepFunctionPrototypeControlCompliant off ExtMode off ExtModeStaticAlloc off ExtModeTesting off ExtModeStaticAllocSize 1000000 ExtModeTransport 0 ExtModeMexFile "ext_comm" ExtModeIntrfLevel "Level1" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off GenerateASAP2 off } PropName "Components" } } PropName "Components" } Name "Configuration" CurrentDlgPage "Solver" } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 1 } BlockDefaults { Orientation "right" ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "DejaVu Sans" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on } BlockParameterDefaults { Block { BlockType Clock DisplayTime off } Block { BlockType DigitalClock SampleTime "1" } Block { BlockType Gain Gain "1" Multiplication "Element-wise(K.*u)" ParamMin "[]" ParamMax "[]" ParameterDataTypeMode "Same as input" ParameterDataType "fixdt(1,16,0)" ParameterScalingMode "Best Precision: Matrix-wise" ParameterScaling "[]" OutMin "[]" OutMax "[]" OutDataTypeMode "Same as input" OutDataType "fixdt(1,16,0)" OutScaling "[]" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Ground } Block { BlockType Inport Port "1" UseBusObject off BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" OutMin "[]" OutMax "[]" DataType "auto" OutDataType "fixdt(1,16,0)" OutScaling "[]" SignalType "auto" SamplingMode "auto" LatchByDelayingOutsideSignal off LatchByCopyingInsideSignal off Interpolate on } Block { BlockType Integrator ExternalReset "none" InitialConditionSource "internal" InitialCondition "0" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" IgnoreLimit off ZeroCross on ContinuousStateAttributes "''" } Block { BlockType Math Operator "exp" OutputSignalType "auto" SampleTime "-1" OutMin "[]" OutMax "[]" OutDataTypeMode "Same as first input" OutDataType "fixdt(1,16,0)" OutScaling "[]" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on } Block { BlockType MATLABFcn MATLABFcn "sin" OutputDimensions "-1" OutputSignalType "auto" Output1D on SampleTime "-1" } Block { BlockType Mux Inputs "4" DisplayOption "none" UseBusObject off BusObject "BusObject" NonVirtualBus off } Block { BlockType Outport Port "1" UseBusObject off BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" OutMin "[]" OutMax "[]" DataType "auto" OutDataType "fixdt(1,16,0)" OutScaling "[]" SignalType "auto" SamplingMode "auto" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Product Inputs "2" Multiplication "Element-wise(.*)" CollapseMode "All dimensions" CollapseDim "1" InputSameDT on OutMin "[]" OutMax "[]" OutDataTypeMode "Same as first input" OutDataType "fixdt(1,16,0)" OutScaling "[]" LockScale off RndMeth "Zero" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType RandomNumber Mean "0" Variance "1" Seed "0" SampleTime "-1" VectorParams1D on } Block { BlockType Reference } Block { BlockType Rounding Operator "floor" SampleTime "-1" } Block { BlockType Scope ModelBased off TickLabels "OneTimeTick" ZoomMode "on" Grid "on" TimeRange "auto" YMin "-5" YMax "5" SaveToWorkspace off SaveName "ScopeData" LimitDataPoints on MaxDataPoints "5000" Decimation "1" SampleInput off SampleTime "-1" } Block { BlockType SubSystem ShowPortLabels "FromPortIcon" Permissions "ReadWrite" PermitHierarchicalResolution "All" TreatAsAtomicUnit off SystemSampleTime "-1" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" SimViewingDevice off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" } Block { BlockType Sum IconShape "rectangular" Inputs "++" CollapseMode "All dimensions" CollapseDim "1" InputSameDT on OutMin "[]" OutMax "[]" OutDataTypeMode "Same as first input" OutDataType "fixdt(1,16,0)" OutScaling "[]" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Switch Criteria "u2 >= Threshold" Threshold "0" InputSameDT on OutMin "[]" OutMax "[]" OutDataTypeMode "Inherit via internal rule" OutDataType "fixdt(1,16,0)" OutScaling "[]" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on ZeroCross on SampleTime "-1" } Block { BlockType ZeroOrderHold SampleTime "1" } Block { BlockType Abs ZeroCross on SampleTime "-1" OutMax "[]" OutDataTypeMode "Same as input" OutDataType "fixdt(1,16,0)" OutScaling "[]" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on } Block { BlockType Constant Value "1" VectorParams1D on SamplingMode "Sample based" OutMin "[]" OutMax "[]" OutDataTypeMode "Inherit from 'Constant value'" OutDataType "fixdt(1,16,0)" ConRadixGroup "Use specified scaling" OutScaling "[]" SampleTime "inf" FramePeriod "inf" } Block { BlockType Sin SineType "Time based" TimeSource "Use simulation time" Amplitude "1" Bias "0" Frequency "1" Phase "0" Samples "10" Offset "0" SampleTime "-1" VectorParams1D on } } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "Courier" FontSize 10 FontWeight "normal" FontAngle "normal" UseDisplayTextAsClickCallback off } LineDefaults { FontName "Courier" FontSize 9 FontWeight "normal" FontAngle "normal" } System { Name "ins5" Location [88, 54, 573, 246] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" ReportName "simulink-default.rpt" Block { BlockType Reference Name "Flight1d1" Ports [0, 1] Position [20, 47, 80, 103] SourceBlock "kalmanlib/models/Flight1d" SourceType "Flight1D" ShowPortLabels "FromPortIcon" SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" tS "50" tF "280" tL "70" v0 "10" q "0.001" dt "0.1" seed "17" } Block { BlockType Reference Name "Kalman Filter\nAkin, H(t), R(t)" Ports [3, 2] Position [240, 76, 315, 144] SourceBlock "kalmanlib/kalman filter/Kalman Filter\nAkin, H(t), R(t)" SourceType "Kalman Filter" ShowPortLabels "FromPortIcon" SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" q "1e-3" x0 "[0; 0; 0]" P0 "[1,0,0; 0,1,0; 0,0,100]*1e-3" } Block { BlockType SubSystem Name "Osci" Ports [4] Position [380, 13, 440, 122] AncestorBlock "kalmanlib/auxiliary/Osci" OpenFcn "open_system(find_system(gcbh, 'Name', 'Scope'), 'force')" MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "Osci" Location [241, 230, 709, 455] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "x" Position [35, 28, 65, 42] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" Port { PortNumber 1 Name "x from system" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Inport Name "z" Position [35, 58, 65, 72] Port "2" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" Port { PortNumber 1 Name "measurement" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Inport Name "xKF" Position [35, 88, 65, 102] Port "3" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" Port { PortNumber 1 Name "x from filter" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Inport Name "p" Position [35, 118, 65, 132] Port "4" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Abs Name "Abs" Position [225, 160, 255, 190] ShowName off SaturateOnIntegerOverflow off Port { PortNumber 1 Name "error" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType MATLABFcn Name "MATLAB Fcn" Ports [1, 1] Position [100, 109, 145, 141] ShowName off MATLABFcn "diag(u)" } Block { BlockType Math Name "Math\nFunction" Ports [1, 1] Position [220, 110, 250, 140] ShowName off Operator "sqrt" OutDataType "sfix(16)" OutScaling "2^0" Port { PortNumber 1 Name "filter sigma" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Scope Name "Scope" Ports [5] Position [335, 22, 425, 168] Floating off Location [701, 54, 1145, 711] Open on NumInputPorts "5" ZoomMode "xonly" List { ListType AxesTitles axes1 "%" axes2 "%" axes3 "%" axes4 "%" axes5 "%" } TimeRange "450" YMin "-2000~-2000~-2000~0~0" YMax "4000~4000~4000~1.5~4" DataFormat "StructureWithTime" LimitDataPoints off SampleTime "0" } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [180, 165, 200, 185] ShowName off IconShape "round" Inputs "+-|" CollapseMode "All dimensions" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" SaturateOnIntegerOverflow off } Line { SrcBlock "p" SrcPort 1 DstBlock "MATLAB Fcn" DstPort 1 } Line { Name "x from filter" SrcBlock "xKF" SrcPort 1 Points [120, 0] Branch { DstBlock "Sum" DstPort 1 } Branch { Labels [-1, 1] DstBlock "Scope" DstPort 3 } } Line { Name "measurement" Labels [-1, 1] SrcBlock "z" SrcPort 1 DstBlock "Scope" DstPort 2 } Line { Name "x from system" SrcBlock "x" SrcPort 1 Points [95, 0] Branch { DstBlock "Sum" DstPort 2 } Branch { Labels [-1, 1] DstBlock "Scope" DstPort 1 } } Line { Name "error" Labels [-1, 1] SrcBlock "Abs" SrcPort 1 Points [20, 0; 0, -20] DstBlock "Scope" DstPort 5 } Line { SrcBlock "Sum" SrcPort 1 DstBlock "Abs" DstPort 1 } Line { Name "filter sigma" Labels [0, 1] SrcBlock "Math\nFunction" SrcPort 1 DstBlock "Scope" DstPort 4 } Line { SrcBlock "MATLAB Fcn" SrcPort 1 DstBlock "Math\nFunction" DstPort 1 } } } Block { BlockType Reference Name "Two-Phase\nMeasurement1" Ports [1, 3] Position [115, 47, 175, 103] SourceBlock "kalmanlib/models/Two-Phase\nMeasurement" SourceType "TwoPhaseMeasurement" ShowPortLabels "FromPortIcon" SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" H1 "[0 0 1; 0 0 0]" H2 "[0 0 1; 1 0 0]" R1 "[0.003, 0; 0, 1e-10]" R2 "[0.003, 0; 0, 1]" n "150" dt "0.1" seed "[43,28]" } Line { SrcBlock "Kalman Filter\nAkin, H(t), R(t)" SrcPort 1 Points [15, 0; 0, -15] DstBlock "Osci" DstPort 3 } Line { SrcBlock "Kalman Filter\nAkin, H(t), R(t)" SrcPort 2 Points [30, 0; 0, -25] DstBlock "Osci" DstPort 4 } Line { SrcBlock "Flight1d1" SrcPort 1 Points [10, 0] Branch { Points [0, -45] DstBlock "Osci" DstPort 1 } Branch { DstBlock "Two-Phase\nMeasurement1" DstPort 1 } } Line { SrcBlock "Two-Phase\nMeasurement1" SrcPort 1 Points [35, 0] Branch { DstBlock "Osci" DstPort 2 } Branch { Points [0, 35] DstBlock "Kalman Filter\nAkin, H(t), R(t)" DstPort 1 } } Line { SrcBlock "Two-Phase\nMeasurement1" SrcPort 2 Points [25, 0; 0, 35] DstBlock "Kalman Filter\nAkin, H(t), R(t)" DstPort 2 } Line { SrcBlock "Two-Phase\nMeasurement1" SrcPort 3 Points [15, 0; 0, 35] DstBlock "Kalman Filter\nAkin, H(t), R(t)" DstPort 3 } } }