最优估计_卡尔曼滤波的Matlab代码

X(m) Vx(m/s) Y(m) Vy(m/s) 10.741902 47.876096 506.110559 -0.369461 16.281255 46.910349 505.183102 -2.244687 17.312072 33.243549 502.923797 -7.032850 18.448821 25.625542 507.845396 5.334790 23.733509 31.618444 504.518400 -4.801309 29.623250 36.169783 502.148656 -9.661307 32.726382 33.772074 503.641906 -5.625804 36.060802 32.483654 498.287735 -13.663027 38.677812 30.518415 492.329134 -19.088783 41.781354 29.528149 494.022933 -14.456402 47.347160 31.454915 494.881521 -12.424947 50.076505 29.924930 495.667134 -11.098416 52.936465 28.814698 495.364074 -10.843193 54.421837 26.657828 491.304416 -12.680433 56.950245 25.717591 492.163075 -11.664546 58.397159 23.951281 491.720033 -11.477358 61.489995 23.993897 490.129236 -11.875283 63.990137 23.550744 486.610768 -12.963321 65.447519 22.111623 485.150711 -12.985975 66.138463 20.118603 484.007124 -12.863652 67.303288 18.971905 480.254715 -13.750267 68.788921 18.212642 478.096666 -13.887594 71.576429 18.925773 475.076651 -14.351612 74.161171 19.322693 472.408131 -14.583708 77.001620 19.773547 472.342142 -13.854059 79.298300 19.643896 471.540424 -13.508434 81.577442 19.625019 469.146172 -13.801547 85.874653 21.579642 468.932688 -13.318759 86.565681 19.520807 467.788945 -13.125431 89.281649 19.874444 466.914013 -12.950023 90.414484 18.530124 465.848818 -12.812377 90.929148 16.565145 466.901603 -11.827138 92.008164 15.676128 465.447831 -12.059715 94.621416 16.567585 463.673121 -12.461960 96.348496 16.318223 462.702020 -12.401821 99.416896 17.515044 462.086174 -12.259665 101.341541 17.312619 461.451816 -12.088555 104.294666 18.232036 460.971469 -11.927748 107.803894 19.506234 461.645204 -11.292088 109.852587 19.133353 461.187991 -11.199501 110.815596 17.861684 458.595330 -12.064421 111.702311 16.641172 456.513938 -12.536035 112.932023 15.842717 455.593107 -12.397776 113.923185 15.033153 453.341912 -12.898771 115.864608 15.294756 451.636996 -13.103812 117.430783 15.185803 449.261977 -13.550648 120.133613 16.235686 447.684983 -13.606945 121.250620 15.416365 446.115605 -13.552513 120.932799 13.222435 443.930353 -13.701291 122.219457 12.946996 442.891699 -13.423165 122.981494 12.102100 442.112053 -13.060647 125.150815 12.807265 442.359088 -12.412968 126.694305 12.823668 441.830633 -12.179416 128.715705 13.534675 440.058208 -12.566371 129.190720 12.291924 439.204460 -12.369125 129.123177 10.858650 436.516944 -13.007647 130.277573 10.991009 433.787332 -13.632385 131.327841 10.845096 432.050588 -13.674438 133.158463 11.741522 429.335569 -14.195331 134.647130 11.870738 428.386387 -13.795864 135.575232 11.258324 428.067769 -13.167552 137.478368 11.960980 426.981457 -13.068590 138.283403 11.299129 426.009040 -12.860432 139.315569 11.002666 424.953896 -12.747603 139.312361 9.711470 422.958850 -13.005317 140.424092 9.618128 422.549893 -12.588020 140.817530 8.877720 421.130244 -12.655370 139.396880 6.103046 419.934618 -12.478619 139.695810 5.842469 417.734923 -12.945917 141.276986 7.135476 415.414019 -13.477662 145.063145 10.823731 413.334736 -13.944301 146.411326 11.076042 411.465257 -14.006881 147.122470 10.673090 408.836776 -14.347338 148.382132 10.934014 406.387650 -14.573496 150.744512 12.116388 405.789882 -14.014297 150.502679 10.279490 404.266245 -13.776437 154.579691 13.501845 403.877791 -13.432591 155.025228 12.180726 402.911689 -13.105390 156.284164 11.842926 402.739234 -12.561975 158.210302 12.644075 400.843809 -12.952422 157.056187 9.845494 398.760112 -13.087157 158.955747 10.718593 397.731070 -12.998705 160.709903 11.367954 396.395289 -13.049717 163.191023 12.621716 395.774359 -12.816077 164.673961 12.824773 393.790430 -13.167502 165.187836 11.703157 392.721039 -12.926984 166.177307 11.564814 390.264553 -13.445807 166.926054 10.984943 388.681521 -13.424702 166.069399 8.647922 387.092559 -13.264538 167.134278 8.732537 385.991465 -13.109743 169.404184 10.068091 385.548663 -12.789118 170.123060 9.390478 385.270554 -12.288777 169.552163 7.657476 383.392585 -12.528303 173.373048 11.222935 381.846630 -13.017652 173.815773 10.115993 381.254535 -12.573276 174.050544 8.904789 380.780992 -12.146070 174.963008 9.185435 377.968244 -13.032082 175.762773 9.125611 375.825269 -13.399865 177.633048 9.903149 375.509377 -12.906789