/*
* FileName : test_kalman_filter.c
* Author : xiahouzuoxin @163.com
* Version : v1.0
* Date : 2014/9/25 8:34:29
* Brief :
*
* Copyright (C) MICL,USTB
*/
#include <stdio.h>
#include "kalman_filter.h"
//#include "fixed_test1.h"
//#include "fixed_test2.h"
#include "free_test07.h"
int main(void)
{
int i = 0;
kalman1_state state1;
float *data = NULL;
int data_len = 0;
float out1 = 0;
/* For 2 Dimension */
kalman2_state state2;
float init_x[2];
float init_p[2][2] = {{10e-6,0}, {0,10e-6}};
float out2 = 0;
data = x1;
data_len = sizeof(x1)/sizeof(float);
// 1 dimension
kalman1_init(&state1, data[1], 5e2);
// 2 dimension
init_x[0] = data[0];
init_x[1] = data[1] - data[0];
kalman2_init(&state2, init_x, init_p);
printf("%d %d %d\n", data, data_len-2, data_len-2);
for (i=2; i<data_len; i++) { // Filter start from 2
printf("%.2f", data[i]); // Original data
/* 1 dimension */
out1 = kalman1_filter(&state1, data[i]);
printf(" %.2f", out1); // Filter result
/* 2 dimension */
out2 = kalman2_filter(&state2, data[i]);
printf(" %.2f\n", out2); // Filter result
}
data = x2;
data_len = sizeof(x2)/sizeof(float);
// 1 dimension
kalman1_init(&state1, data[1], 5e2);
// 2 dimension
init_x[0] = data[0];
init_x[1] = data[1] - data[0];
kalman2_init(&state2, init_x, init_p);
printf("%d %d %d\n", data, data_len-2, data_len-2);
for (i=2; i<data_len; i++) { // Filter start from 2
printf("%.2f", data[i]); // Original data
/* 1 dimension */
out1 = kalman1_filter(&state1, data[i]);
printf(" %.2f", out1); // Filter result
/* 2 dimension */
out2 = kalman2_filter(&state2, data[i]);
printf(" %.2f\n", out2); // Filter result
}
return 0;
}
C 语言实现卡尔曼滤波（一维，二维）.zip （9个子文件） 
222 
.gitattributes 66B kalman_c obj Debug C Users Administrator Desktop kalman_filter-master kalman_filter-master test_kalman_filter.o 5KB kalman_filter.o 4KB main.o 5KB kalman_c.depend 625B kalman_c.layout 176B bin Debug 
kalman_c.exe 35KB kalman_c.cbp 3KB main.c 2KB资源评论
