datfil.txt

这是zarchan书的fundamentals of kalman filter的matlab原程序.对学习卡尔曼滤波非常有帮助

  1.0000000e-001  1.9939984e+005  1.9941042e+005 -6.0031750e+003 -6.1517791e+003  5.0000000e+002  8.0000000e+002
  2.0000000e-001  1.9879937e+005  1.9880481e+005 -6.0063486e+003 -6.1190327e+003  5.0000000e+002  7.9999545e+002
  3.0000000e-001  1.9819857e+005  1.9818668e+005 -6.0095209e+003 -6.1434881e+003  5.0000000e+002  8.0000203e+002
  4.0000000e-001  1.9759746e+005  1.9759546e+005 -6.0126919e+003 -6.0763750e+003  5.0000000e+002  7.9995956e+002
  5.0000000e-001  1.9699603e+005  1.9696532e+005 -6.0158614e+003 -6.1372106e+003  5.0000000e+002  8.0002244e+002
  6.0000000e-001  1.9639429e+005  1.9638181e+005 -6.0190295e+003 -6.0726501e+003  5.0000000e+002  7.9989611e+002
  7.0000000e-001  1.9579223e+005  1.9578144e+005 -6.0221961e+003 -6.0620248e+003  5.0000000e+002  7.9985383e+002
  8.0000000e-001  1.9518985e+005  1.9516575e+005 -6.0253612e+003 -6.0814249e+003  5.0000000e+002  7.9993204e+002
  9.0000000e-001  1.9458716e+005  1.9455710e+005 -6.0285246e+003 -6.0851375e+003  5.0000000e+002  7.9993592e+002
  1.0000000e+000  1.9398414e+005  1.9396119e+005 -6.0316865e+003 -6.0702447e+003  5.0000000e+002  7.9974075e+002
  1.1000000e+000  1.9338082e+005  1.9336339e+005 -6.0348466e+003 -6.0612553e+003  5.0000000e+002  7.9955240e+002
  1.2000000e+000  1.9277718e+005  1.9275573e+005 -6.0380050e+003 -6.0660831e+003  5.0000000e+002  7.9958803e+002
  1.3000000e+000  1.9217322e+005  1.9215225e+005 -6.0411617e+003 -6.0656183e+003  5.0000000e+002  7.9948016e+002
  1.4000000e+000  1.9156894e+005  1.9155953e+005 -6.0443165e+003 -6.0543594e+003  5.0000000e+002  7.9890679e+002
  1.5000000e+000  1.9096435e+005  1.9095368e+005 -6.0474694e+003 -6.0577836e+003  5.0000000e+002  7.9891969e+002
  1.6000000e+000  1.9035945e+005  1.9035043e+005 -6.0506204e+003 -6.0585225e+003  5.0000000e+002  7.9875376e+002
  1.7000000e+000  1.8975423e+005  1.8975048e+005 -6.0537694e+003 -6.0565062e+003  5.0000000e+002  7.9830086e+002
  1.8000000e+000  1.8914870e+005  1.8914980e+005 -6.0569163e+003 -6.0555279e+003  5.0000000e+002  7.9784221e+002
  1.9000000e+000  1.8854285e+005  1.8854449e+005 -6.0600611e+003 -6.0583869e+003  5.0000000e+002  7.9779879e+002
  2.0000000e+000  1.8793668e+005  1.8793101e+005 -6.0632038e+003 -6.0670281e+003  5.0000000e+002  7.9873674e+002
  2.1000000e+000  1.8733021e+005  1.8731820e+005 -6.0663442e+003 -6.0743462e+003  5.0000000e+002  7.9961070e+002
  2.2000000e+000  1.8672341e+005  1.8671443e+005 -6.0694822e+003 -6.0749653e+003  5.0000000e+002  7.9895617e+002
  2.3000000e+000  1.8611631e+005  1.8610538e+005 -6.0726179e+003 -6.0790195e+003  5.0000000e+002  7.9923158e+002
  2.4000000e+000  1.8550889e+005  1.8550119e+005 -6.0757512e+003 -6.0798192e+003  5.0000000e+002  7.9834948e+002
  2.5000000e+000  1.8490116e+005  1.8488920e+005 -6.0788819e+003 -6.0852427e+003  5.0000000e+002  7.9935462e+002
  2.6000000e+000  1.8429311e+005  1.8428389e+005 -6.0820101e+003 -6.0864956e+003  5.0000000e+002  7.9834712e+002
  2.7000000e+000  1.8368476e+005  1.8367852e+005 -6.0851355e+003 -6.0877818e+003  5.0000000e+002  7.9718044e+002
  2.8000000e+000  1.8307609e+005  1.8307168e+005 -6.0882582e+003 -6.0898386e+003  5.0000000e+002  7.9637555e+002
  2.9000000e+000  1.8246711e+005  1.8245990e+005 -6.0913781e+003 -6.0943340e+003  5.0000000e+002  7.9751711e+002
  3.0000000e+000  1.8185781e+005  1.8185017e+005 -6.0944951e+003 -6.0975606e+003  5.0000000e+002  7.9758784e+002
  3.1000000e+000  1.8124821e+005  1.8124252e+005 -6.0976090e+003 -6.0996347e+003  5.0000000e+002  7.9634823e+002
  3.2000000e+000  1.8063829e+005  1.8062847e+005 -6.1007199e+003 -6.1045967e+003  5.0000000e+002  7.9874626e+002
  3.3000000e+000  1.8002806e+005  1.8001703e+005 -6.1038276e+003 -6.1081158e+003  5.0000000e+002  7.9930860e+002
  3.4000000e+000  1.7941753e+005  1.7940437e+005 -6.1069320e+003 -6.1120008e+003  5.0000000e+002  8.0059332e+002
  3.5000000e+000  1.7880668e+005  1.7879713e+005 -6.1100330e+003 -6.1133998e+003  5.0000000e+002  7.9712158e+002
  3.6000000e+000  1.7819552e+005  1.7819115e+005 -6.1131306e+003 -6.1142721e+003  5.0000000e+002  7.9198808e+002
  3.7000000e+000  1.7758405e+005  1.7758181e+005 -6.1162246e+003 -6.1165111e+003  5.0000000e+002  7.8967764e+002
  3.8000000e+000  1.7697227e+005  1.7696838e+005 -6.1193149e+003 -6.1202827e+003  5.0000000e+002  7.9151446e+002
  3.9000000e+000  1.7636019e+005  1.7635713e+005 -6.1224014e+003 -6.1230616e+003  5.0000000e+002  7.9034813e+002
  4.0000000e+000  1.7574779e+005  1.7574444e+005 -6.1254840e+003 -6.1262807e+003  5.0000000e+002  7.9066490e+002
  4.1000000e+000  1.7513509e+005  1.7513000e+005 -6.1285625e+003 -6.1300091e+003  5.0000000e+002  7.9313200e+002
  4.2000000e+000  1.7452208e+005  1.7451809e+005 -6.1316370e+003 -6.1326941e+003  5.0000000e+002  7.9108432e+002
  4.3000000e+000  1.7390876e+005  1.7390527e+005 -6.1347072e+003 -6.1356102e+003  5.0000000e+002  7.9000529e+002
  4.4000000e+000  1.7329514e+005  1.7328942e+005 -6.1377729e+003 -6.1394567e+003  5.0000000e+002  7.9416912e+002
  4.5000000e+000  1.7268121e+005  1.7267437e+005 -6.1408342e+003 -6.1428908e+003  5.0000000e+002  7.9617687e+002
  4.6000000e+000  1.7206697e+005  1.7205993e+005 -6.1438908e+003 -6.1460053e+003  5.0000000e+002  7.9615736e+002
  4.7000000e+000  1.7145243e+005  1.7144709e+005 -6.1469426e+003 -6.1485071e+003  5.0000000e+002  7.9134847e+002
  4.8000000e+000  1.7083758e+005  1.7083004e+005 -6.1499895e+003 -6.1522591e+003  5.0000000e+002  7.9691137e+002
  4.9000000e+000  1.7022243e+005  1.7021410e+005 -6.1530313e+003 -6.1555394e+003  5.0000000e+002  7.9855740e+002
  5.0000000e+000  1.6960698e+005  1.6959812e+005 -6.1560678e+003 -6.1587246e+003  5.0000000e+002  7.9939985e+002
  5.1000000e+000  1.6899122e+005  1.6898463e+005 -6.1590990e+003 -6.1610708e+003  5.0000000e+002  7.9068115e+002
  5.2000000e+000  1.6837516e+005  1.6837212e+005 -6.1621246e+003 -6.1630656e+003  5.0000000e+002  7.7675081e+002
  5.3000000e+000  1.6775880e+005  1.6775848e+005 -6.1651445e+003 -6.1653417e+003  5.0000000e+002  7.6549220e+002
  5.4000000e+000  1.6714213e+005  1.6714344e+005 -6.1681585e+003 -6.1679561e+003  5.0000000e+002  7.5839267e+002
  5.5000000e+000  1.6652516e+005  1.6652697e+005 -6.1711664e+003 -6.1709010e+003  5.0000000e+002  7.5617025e+002
  5.6000000e+000  1.6590790e+005  1.6590972e+005 -6.1741681e+003 -6.1739783e+003  5.0000000e+002  7.5619921e+002
  5.7000000e+000  1.6529033e+005  1.6528949e+005 -6.1771634e+003 -6.1777863e+003  5.0000000e+002  7.7046629e+002
  5.8000000e+000  1.6467247e+005  1.6467091e+005 -6.1801520e+003 -6.1810305e+003  5.0000000e+002  7.7412450e+002
  5.9000000e+000  1.6405430e+005  1.6405273e+005 -6.1831338e+003 -6.1840766e+003  5.0000000e+002  7.7367066e+002
  6.0000000e+000  1.6343584e+005  1.6343465e+005 -6.1861086e+003 -6.1870091e+003  5.0000000e+002  7.7051656e+002
  6.1000000e+000  1.6281708e+005  1.6281425e+005 -6.1890762e+003 -6.1904748e+003  5.0000000e+002  7.8128958e+002
  6.2000000e+000  1.6219802e+005  1.6219418e+005 -6.1920363e+003 -6.1937577e+003  5.0000000e+002  7.8776437e+002
  6.3000000e+000  1.6157867e+005  1.6157578e+005 -6.1949887e+003 -6.1965106e+003  5.0000000e+002  7.7878439e+002
  6.4000000e+000  1.6095903e+005  1.6095432e+005 -6.1979332e+003 -6.1999882e+003  5.0000000e+002  7.9279711e+002
  6.5000000e+000  1.6033909e+005  1.6033328e+005 -6.2008696e+003 -6.2032621e+003  5.0000000e+002  8.0078958e+002
  6.6000000e+000  1.5971885e+005  1.5971358e+005 -6.2037976e+003 -6.2060954e+003  5.0000000e+002  7.9335201e+002
  6.7000000e+000  1.5909833e+005  1.5909546e+005 -6.2067170e+003 -6.2084335e+003  5.0000000e+002  7.6666191e+002
  6.8000000e+000  1.5847751e+005  1.5847308e+005 -6.2096274e+003 -6.2118163e+003  5.0000000e+002  7.8148725e+002
  6.9000000e+000  1.5785640e+005  1.5785294e+005 -6.2125287e+003 -6.2145152e+003  5.0000000e+002  7.6793672e+002
  7.0000000e+000  1.5723500e+005  1.5723038e+005 -6.2154206e+003 -6.2177753e+003  5.0000000e+002  7.7930713e+002
  7.1000000e+000  1.5661332e+005  1.5660828e+005 -6.2183028e+003 -6.2208248e+003  5.0000000e+002  7.8148101e+002
  7.2000000e+000  1.5599134e+005  1.5598548e+005 -6.2211749e+003 -6.2239748e+003  5.0000000e+002  7.8893345e+002
  7.3000000e+000  1.5536908e+005  1.5536510e+005 -6.2240368e+003 -6.2263756e+003  5.0000000e+002  7.5893140e+002
  7.4000000e+000  1.5474654e+005  1.5474378e+005 -6.2268880e+003 -6.2289448e+003  5.0000000e+002  7.3756471e+002
  7.5000000e+000  1.5412371e+005  1.5411790e+005 -6.2297283e+003 -6.2327050e+003  5.0000000e+002  7.8063675e+002
  7.6000000e+000  1.5350059e+005  1.5349432e+005 -6.2325574e+003 -6.2357217e+003  5.0000000e+002  7.8327126e+002
  7.7000000e+000  1.5287719e+005  1.5287176e+005 -6.2353748e+003 -6.2383470e+003  5.0000000e+002  7.6404199e+002
  7.8000000e+000  1.5225352e+005  1.5224589e+005 -6.2381803e+003 -6.2418529e+003  5.0000000e+002  7.9649233e+002
  7.9000000e+000  1.5162956e+005  1.5162172e+005 -6.2409735e+003 -6.2447560e+003  5.0000000e+002  7.9360697e+002
  8.0000000e+000  1.5100532e+005  1.5099695e+005 -6.2437540e+003 -6.2477407e+003  5.0000000e+002  7.9614680e+002
  8.1000000e+000  1.5038081e+005  1.5037324e+005 -6.2465215e+003 -6.2502989e+003  5.0000000e+002  7.7305723e+002
  8.2000000e+000  1.4975602e+005  1.4974727e+005 -6.2492755e+003 -6.2534700e+003  5.0000000e+002  7.8868796e+002
  8.3000000e+000  1.4913095e+005  1.4912242e+005 -6.2520157e+003 -6.2561754e+003  5.0000000e+002  7.7561491e+002
  8.4000000e+000  1.4850562e+005  1.4849642e+005 -6.2547416e+003 -6.2591551e+003  5.0000000e+002  7.8054122e+002
  8.5000000e+000  1.4788001e+005  1.4786886e+005 -6.2574528e+003 -6.2625596e+003  5.0000000e+002  8.1255419e+002
  8.6000000e+000  1.4725413e+005  1.4724258e+005 -6.2601489e+003 -6.2654144e+003  5.0000000e+002  8.0990764e+002
  8.7000000e+000  1.4662798e+005  1.4661593e+005 -6.2628294e+003 -6.2682872e+003  5.0000000e+002  8.0906463e+002
  8.8000000e+000  1.4600156e+005  1.4598927e+005 -6.2654938e+003 -6.2710478e+003  5.0000000e+002  8.0185639e+002
  8.9000000e+000  1.4537488e+005  1.4536234e+005 -6.2681417e+003 -6.2737912e+003  5.0000000e+002  7.9445913e+002
  9.0000000e+000  1.4474793e+005  1.4473320e+005 -6.2707726e+003 -6.2772533e+003  5.0000000e+002  8.3228010e+002
  9.1000000e+000  1.4412072e+005  1.4410797e+005 -6.2733860e+003 -6.2790922e+003  5.0000000e+002  7.7015790e+002
  9.2000000e+000  1.4349326e+005  1.4348282e+005 -6.2759812e+003 -6.2807646e+003  5.0000000e+002  7.0131160e+002
  9.3000000e+000  1.4286553e+005  1.4285509e+005 -6.2785579e+003 -6.2833264e+003  5.0000000e+002  6.8958443e+002
  9.4000000e+000  1.4223755e+005  1.4222614e+005 -6.2811154e+003 -6.2862654e+003  5.0000000e+002  7.0112689e+002
  9.5000000e+000  1.4160931e+005  1.4159850e+005 -6.2836532e+003 -6.2885177e+003  5.0000000e+002  6.7410485e+002
  9.6000000e+000  1.4098082e+005  1.4096960e+005 -6.2861706e+003 -6.2911781e+003  5.0000000e+002  6.7205675e+002
  9.7000000e+000  1.4035207e+005  1.4034125e+005 -6.2886671e+003 -6.2934532e+003  5.0000000e+002  6.5050774e+002
  9.8000000e+000  1.3972308e+005  1.3970953e+005 -6.2911420e+003 -6.2971381e+003  5.0000000e+002  7.0392364e+002
  9.9000000e+000  1.3909385e+005  1.3908362e+005 -6.2935947e+003 -6.2979460e+003  5.0000000e+002  6.1050918e+002
  1.0000000e+001  1.3846436e+005  1.3845504e+005 -6.2960245e+003 -6.2998605e+003  5.0000000e+002  5.7890002e+002
  1.0100000e+001  1.3783464e+005  1.3782694e+005 -6.2984308e+003 -6.3013588e+003  5.0000000e+002  5.3213310e+002