This document explains the Blind Tricyclist Problem M ATLAB functions and an example　input/output data file that are provided in this package.　
Israel Annual Conference on Aerospace Sciences,　Feb. 29 -


The descr iptions in this document presume that the user is familiar with the models and notation
of that paper.

The contents of this document, listed in order, are:

a)　A glossary for translation of variable　names between the above-cited paper and the
provided M ATLAB .m-file functions and .mat data file.
b)　A listing and descr iptions of the five MATLAB .m-file functions that are provided.
c)　A descr iption of the single MATLAB　.mat data file that has been provided, one that
contains truth-model simulated data.
d)　An example set of commented MATLAB　commands that run a new simulation and that
implement and test a first-order EKF using the provided function files and some of the
data in the provided .mat file.(This document explains the Blind Tricyclist Problem M ATLAB functions and an example　input/output data file that are provided in this package.)