function partical
clear all;
a=xlsread('datace.xls');
T =2344;
dt=0.00001;
Q=0.00000001;
R=0.000001;
w=sqrt(Q)*randn(T,1);
v=sqrt(R)*randn(T,1);
numSamples=1000;
x0=0;
X=zeros(T,1);
Z=zeros(T,1);
X(1,1)=x0;
Z(1,1)=a(1,1);
for k=2:T
Z(k,1)=a(k,1);
end
Xpf=zeros(numSamples,T);
Xparticles=zeros(numSamples,T);
Zpre_pf=zeros(numSamples,T);
weight=zeros(numSamples,T);
Xpf(:,1)=x0+sqrt(Q)*randn(numSamples,1);
Zpre_pf(:,1)=Xpf(:,1);
for k=2:T
for i=1:numSamples
QQ
clear all;
a=xlsread('datace.xls');
T =2344;
dt=0.00001;
Q=0.00000001;
R=0.000001;
w=sqrt(Q)*randn(T,1);
v=sqrt(R)*randn(T,1);
numSamples=1000;
x0=0;
X=zeros(T,1);
Z=zeros(T,1);
X(1,1)=x0;
Z(1,1)=a(1,1);
for k=2:T
Z(k,1)=a(k,1);
end
Xpf=zeros(numSamples,T);
Xparticles=zeros(numSamples,T);
Zpre_pf=zeros(numSamples,T);
weight=zeros(numSamples,T);
Xpf(:,1)=x0+sqrt(Q)*randn(numSamples,1);
Zpre_pf(:,1)=Xpf(:,1);
for k=2:T
for i=1:numSamples