matlab斑点噪声算法,粒子滤波算法中的噪声问题

clear;

X(1,1)=0.950;

X(2,1)=0.004;

X(3,1)=0.004;%初值

R = 0.0001;

tf = 4000; %仿真长度

N = 1000; %粒子数目

P = 0.0001;

XhatPart1 = X(1,1);    %xhatPart=x=0.1

XhatPart2 = X(2,1);

XhatPart3 = X(3,1);

% Initialize the particle filter. 初始化粒子滤波，xpart值用来在不同时刻生成粒子

for i = 1 : N

Xpart(1,i) = X(1,1)+ wgn(1,1,10*log10(0.0001));

Xpart(2,i) = X(2,1)+ wgn(1,1,10*log10(0.0001));

Xpart(3,i) = X(3,1)+ wgn(1,1,10*log10(0.0001));

end      %初始化xpart(i)为生成的随机粒子(有时考虑到精度会手动初始化)

XArr1 = X(1,1);    %存放数组

XArr2 = X(2,1);

XArr3 = X(3,1);

XhatPartArr1 = XhatPart1;   %xhatPartArr = [xhatPart]=0.1；存放数组

XhatPartArr2 = XhatPart2;

XhatPartArr3 = XhatPart3;

close all;%cl