中文说明： 下面的 Matlab 代码实现扩展的卡尔曼滤波器导航系统示例，课程笔记第 8 节所述。代码分为两个主要部分： 一个模拟，生成车辆轨迹和观测的地标建筑， 扩展的卡尔曼滤波，作为输入的控制和观察的输入过程的模拟与估计车辆的位置、 方向和有效车轮半径中生成。
English Description：
The following Matlab code implements the extended Kalman filter navigation system example described in Section 8 of the course notes. The code is divided into two main parts: A simulation that generates a vehicle trajectory and observations of landmarks, An extended Kalman filter which takes as input the control and observation inputs generated during the simulation and estimates vehicle position, orientation and effective wheel radius.