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

  1.0200000e+001  1.3720468e+005  1.3720026e+005 -6.3008128e+003 -6.3019044e+003  5.0000000e+002  4.5012274e+002
  1.0300000e+001  1.3657448e+005  1.3656635e+005 -6.3031697e+003 -6.3061868e+003  5.0000000e+002  5.3139482e+002
  1.0400000e+001  1.3594405e+005  1.3593482e+005 -6.3055010e+003 -6.3090337e+003  5.0000000e+002  5.4911814e+002
  1.0500000e+001  1.3531338e+005  1.3530493e+005 -6.3078057e+003 -6.3107427e+003  5.0000000e+002  5.2448752e+002
  1.0600000e+001  1.3468249e+005  1.3467557e+005 -6.3100832e+003 -6.3119385e+003  5.0000000e+002  4.8561128e+002
  1.0700000e+001  1.3405136e+005  1.3404368e+005 -6.3123325e+003 -6.3145259e+003  5.0000000e+002  4.9757112e+002
  1.0800000e+001  1.3342002e+005  1.3341348e+005 -6.3145528e+003 -6.3158507e+003  5.0000000e+002  4.7020077e+002
  1.0900000e+001  1.3278846e+005  1.3277959e+005 -6.3167433e+003 -6.3194534e+003  5.0000000e+002  5.1294091e+002
  1.1000000e+001  1.3215667e+005  1.3214795e+005 -6.3189031e+003 -6.3213549e+003  5.0000000e+002  5.0513149e+002
  1.1100000e+001  1.3152468e+005  1.3151584e+005 -6.3210313e+003 -6.3233968e+003  5.0000000e+002  5.0261382e+002
  1.1200000e+001  1.3089247e+005  1.3088672e+005 -6.3231268e+003 -6.3231806e+003  5.0000000e+002  4.4503124e+002
  1.1300000e+001  1.3026005e+005  1.3025352e+005 -6.3251889e+003 -6.3256594e+003  5.0000000e+002  4.5808402e+002
  1.1400000e+001  1.2962743e+005  1.2961916e+005 -6.3272164e+003 -6.3288056e+003  5.0000000e+002  4.8509052e+002
  1.1500000e+001  1.2899461e+005  1.2898467e+005 -6.3292083e+003 -6.3318617e+003  5.0000000e+002  5.0814846e+002
  1.1600000e+001  1.2836159e+005  1.2835330e+005 -6.3311636e+003 -6.3324413e+003  5.0000000e+002  4.8027453e+002
  1.1700000e+001  1.2772838e+005  1.2771879e+005 -6.3330811e+003 -6.3351541e+003  5.0000000e+002  4.9642850e+002
  1.1800000e+001  1.2709498e+005  1.2709098e+005 -6.3349599e+003 -6.3328132e+003  5.0000000e+002  4.1998260e+002
  1.1900000e+001  1.2646139e+005  1.2645975e+005 -6.3367986e+003 -6.3328127e+003  5.0000000e+002  3.9310631e+002
  1.2000000e+001  1.2582762e+005  1.2582751e+005 -6.3385961e+003 -6.3333935e+003  5.0000000e+002  3.7988677e+002
  1.2100000e+001  1.2519367e+005  1.2519359e+005 -6.3403513e+003 -6.3350835e+003  5.0000000e+002  3.8571136e+002
  1.2200000e+001  1.2455955e+005  1.2456094e+005 -6.3420628e+003 -6.3356356e+003  5.0000000e+002  3.7582509e+002
  1.2300000e+001  1.2392526e+005  1.2393129e+005 -6.3437293e+003 -6.3336612e+003  5.0000000e+002  3.3544228e+002
  1.2400000e+001  1.2329080e+005  1.2328981e+005 -6.3453496e+003 -6.3410345e+003  5.0000000e+002  4.1293278e+002
  1.2500000e+001  1.2265619e+005  1.2265992e+005 -6.3469222e+003 -6.3388220e+003  5.0000000e+002  3.7414516e+002
  1.2600000e+001  1.2202142e+005  1.2202414e+005 -6.3484458e+003 -6.3412760e+003  5.0000000e+002  3.8998281e+002
  1.2700000e+001  1.2138650e+005  1.2138951e+005 -6.3499189e+003 -6.3426266e+003  5.0000000e+002  3.9363981e+002
  1.2800000e+001  1.2075144e+005  1.2075768e+005 -6.3513400e+003 -6.3415911e+003  5.0000000e+002  3.7482118e+002
  1.2900000e+001  1.2011624e+005  1.2012448e+005 -6.3527076e+003 -6.3415572e+003  5.0000000e+002  3.6769832e+002
  1.3000000e+001  1.1948090e+005  1.1948347e+005 -6.3540202e+003 -6.3475985e+003  5.0000000e+002  4.1360847e+002
  1.3100000e+001  1.1884543e+005  1.1884304e+005 -6.3552760e+003 -6.3528365e+003  5.0000000e+002  4.4927751e+002
  1.3200000e+001  1.1820985e+005  1.1820998e+005 -6.3564735e+003 -6.3520719e+003  5.0000000e+002  4.3566875e+002
  1.3300000e+001  1.1757414e+005  1.1757151e+005 -6.3576110e+003 -6.3553148e+003  5.0000000e+002  4.5384464e+002
  1.3400000e+001  1.1693833e+005  1.1693064e+005 -6.3586866e+003 -6.3600355e+003  5.0000000e+002  4.8197474e+002
  1.3500000e+001  1.1630241e+005  1.1629443e+005 -6.3596986e+003 -6.3610773e+003  5.0000000e+002  4.8277846e+002
  1.3600000e+001  1.1566639e+005  1.1565803e+005 -6.3606452e+003 -6.3621146e+003  5.0000000e+002  4.8396622e+002
  1.3700000e+001  1.1503028e+005  1.1501902e+005 -6.3615244e+003 -6.3647930e+003  5.0000000e+002  4.9645331e+002
  1.3800000e+001  1.1439409e+005  1.1438034e+005 -6.3623343e+003 -6.3670103e+003  5.0000000e+002  5.0567855e+002
  1.3900000e+001  1.1375782e+005  1.1374643e+005 -6.3630729e+003 -6.3659394e+003  5.0000000e+002  4.9416269e+002
  1.4000000e+001  1.1312147e+005  1.1310512e+005 -6.3637381e+003 -6.3695480e+003  5.0000000e+002  5.1233533e+002
  1.4100000e+001  1.1248507e+005  1.1247451e+005 -6.3643278e+003 -6.3662284e+003  5.0000000e+002  4.8876322e+002
  1.4200000e+001  1.1184861e+005  1.1184133e+005 -6.3648399e+003 -6.3645642e+003  5.0000000e+002  4.7658265e+002
  1.4300000e+001  1.1121210e+005  1.1120490e+005 -6.3652720e+003 -6.3648314e+003  5.0000000e+002  4.7642778e+002
  1.4400000e+001  1.1057556e+005  1.1056922e+005 -6.3656219e+003 -6.3645609e+003  5.0000000e+002  4.7383470e+002
  1.4500000e+001  1.0993898e+005  1.0993076e+005 -6.3658873e+003 -6.3658299e+003  5.0000000e+002  4.7995952e+002
  1.4600000e+001  1.0930238e+005  1.0929203e+005 -6.3660658e+003 -6.3671123e+003  5.0000000e+002  4.8623378e+002
  1.4700000e+001  1.0866577e+005  1.0865766e+005 -6.3661548e+003 -6.3657840e+003  5.0000000e+002  4.7967236e+002
  1.4800000e+001  1.0802916e+005  1.0802465e+005 -6.3661518e+003 -6.3636444e+003  5.0000000e+002  4.7007712e+002
  1.4900000e+001  1.0739255e+005  1.0739247e+005 -6.3660543e+003 -6.3610281e+003  5.0000000e+002  4.5933669e+002
  1.5000000e+001  1.0675595e+005  1.0675598e+005 -6.3658595e+003 -6.3607660e+003  5.0000000e+002  4.6036367e+002
  1.5100000e+001  1.0611938e+005  1.0612159e+005 -6.3655647e+003 -6.3592716e+003  5.0000000e+002  4.5642846e+002
  1.5200000e+001  1.0548284e+005  1.0549082e+005 -6.3651672e+003 -6.3557724e+003  5.0000000e+002  4.4478146e+002
  1.5300000e+001  1.0484635e+005  1.0486053e+005 -6.3646640e+003 -6.3520037e+003  5.0000000e+002  4.3331756e+002
  1.5400000e+001  1.0420991e+005  1.0422269e+005 -6.3640521e+003 -6.3522696e+003  5.0000000e+002  4.3898916e+002
  1.5500000e+001  1.0357354e+005  1.0359205e+005 -6.3633287e+003 -6.3486097e+003  5.0000000e+002  4.2986554e+002
  1.5600000e+001  1.0293725e+005  1.0295470e+005 -6.3624905e+003 -6.3484971e+003  5.0000000e+002  4.3483555e+002
  1.5700000e+001  1.0230105e+005  1.0231606e+005 -6.3615344e+003 -6.3489818e+003  5.0000000e+002  4.4203183e+002
  1.5800000e+001  1.0166495e+005  1.0168101e+005 -6.3604571e+003 -6.3474866e+003  5.0000000e+002  4.4244750e+002
  1.5900000e+001  1.0102896e+005  1.0104440e+005 -6.3592554e+003 -6.3467507e+003  5.0000000e+002  4.4579767e+002
  1.6000000e+001  1.0039310e+005  1.0041110e+005 -6.3579258e+003 -6.3442280e+003  5.0000000e+002  4.4367520e+002
  1.6100000e+001  9.9757378e+004  9.9776477e+004 -6.3564649e+003 -6.3423567e+003  5.0000000e+002  4.4415536e+002
  1.6200000e+001  9.9121810e+004  9.9136288e+004 -6.3548691e+003 -6.3432899e+003  5.0000000e+002  4.5344141e+002
  1.6300000e+001  9.8486409e+004  9.8492788e+004 -6.3531347e+003 -6.3457896e+003  5.0000000e+002  4.6712513e+002
  1.6400000e+001  9.7851188e+004  9.7858964e+004 -6.3512581e+003 -6.3432453e+003  5.0000000e+002  4.6621121e+002
  1.6500000e+001  9.7216162e+004  9.7221370e+004 -6.3492354e+003 -6.3425523e+003  5.0000000e+002  4.7084366e+002
  1.6600000e+001  9.6581346e+004  9.6588912e+004 -6.3470628e+003 -6.3392326e+003  5.0000000e+002  4.6864101e+002
  1.6700000e+001  9.5946755e+004  9.5958205e+004 -6.3447363e+003 -6.3350405e+003  5.0000000e+002  4.6472945e+002
  1.6800000e+001  9.5312404e+004  9.5321223e+004 -6.3422518e+003 -6.3339102e+003  5.0000000e+002  4.6916151e+002
  1.6900000e+001  9.4678310e+004  9.4689495e+004 -6.3396052e+003 -6.3301677e+003  5.0000000e+002  4.6737681e+002
  1.7000000e+001  9.4044489e+004  9.4055847e+004 -6.3367923e+003 -6.3273373e+003  5.0000000e+002  4.6827837e+002
  1.7100000e+001  9.3410957e+004  9.3420688e+004 -6.3338087e+003 -6.3251921e+003  5.0000000e+002  4.7112663e+002
  1.7200000e+001  9.2777733e+004  9.2791088e+004 -6.3306502e+003 -6.3203711e+003  5.0000000e+002  4.6822064e+002
  1.7300000e+001  9.2144833e+004  9.2156649e+004 -6.3273122e+003 -6.3178298e+003  5.0000000e+002  4.7086920e+002
  1.7400000e+001  9.1512276e+004  9.1526748e+004 -6.3237902e+003 -6.3131334e+003  5.0000000e+002  4.6920421e+002
  1.7500000e+001  9.0880081e+004  9.0897889e+004 -6.3200794e+003 -6.3079612e+003  5.0000000e+002  4.6706048e+002
  1.7600000e+001  9.0248267e+004  9.0260693e+004 -6.3161753e+003 -6.3066291e+003  5.0000000e+002  4.7315996e+002
  1.7700000e+001  8.9616853e+004  8.9635821e+004 -6.3120730e+003 -6.2996046e+003  5.0000000e+002  4.6820301e+002
  1.7800000e+001  8.8985859e+004  8.9007352e+004 -6.3077675e+003 -6.2942617e+003  5.0000000e+002  4.6712526e+002
  1.7900000e+001  8.8355306e+004  8.8378485e+004 -6.3032540e+003 -6.2891109e+003  5.0000000e+002  4.6686911e+002
  1.8000000e+001  8.7725215e+004  8.7745874e+004 -6.2985274e+003 -6.2856423e+003  5.0000000e+002  4.7005789e+002
  1.8100000e+001  8.7095608e+004  8.7115027e+004 -6.2935825e+003 -6.2813587e+003  5.0000000e+002  4.7204611e+002
  1.8200000e+001  8.6466506e+004  8.6482262e+004 -6.2884142e+003 -6.2779073e+003  5.0000000e+002  4.7574338e+002
  1.8300000e+001  8.5837933e+004  8.5850454e+004 -6.2830171e+003 -6.2740002e+003  5.0000000e+002  4.7888208e+002
  1.8400000e+001  8.5209911e+004  8.5220193e+004 -6.2773860e+003 -6.2693899e+003  5.0000000e+002  4.8111066e+002
  1.8500000e+001  8.4582464e+004  8.4593883e+004 -6.2715153e+003 -6.2630551e+003  5.0000000e+002  4.8089360e+002
  1.8600000e+001  8.3955616e+004  8.3970846e+004 -6.2653996e+003 -6.2553359e+003  5.0000000e+002  4.7894767e+002
  1.8700000e+001  8.3329392e+004  8.3347162e+004 -6.2590334e+003 -6.2479441e+003  5.0000000e+002  4.7798068e+002
  1.8800000e+001  8.2703818e+004  8.2720035e+004 -6.2524109e+003 -6.2420551e+003  5.0000000e+002  4.7964535e+002
  1.8900000e+001  8.2078919e+004  8.2090055e+004 -6.2455265e+003 -6.2373760e+003  5.0000000e+002  4.8333194e+002
  1.9000000e+001  8.1454721e+004  8.1466178e+004 -6.2383746e+003 -6.2301174e+003  5.0000000e+002  4.8363130e+002
  1.9100000e+001  8.0831253e+004  8.0840959e+004 -6.2309492e+003 -6.2234493e+003  5.0000000e+002  4.8509524e+002
  1.9200000e+001  8.0208541e+004  8.0214394e+004 -6.2232446e+003 -6.2173545e+003  5.0000000e+002  4.8762183e+002
  1.9300000e+001  7.9586613e+004  7.9593469e+004 -6.2152548e+003 -6.2089443e+003  5.0000000e+002  4.8741173e+002
  1.9400000e+001  7.8965500e+004  7.8973588e+004 -6.2069740e+003 -6.2001579e+003  5.0000000e+002  4.8711159e+002
  1.9500000e+001  7.8345229e+004  7.8355060e+004 -6.1983961e+003 -6.1908782e+003  5.0000000e+002  4.8659147e+002
  1.9600000e+001  7.7725830e+004  7.7735015e+004 -6.1895153e+003 -6.1822733e+003  5.0000000e+002  4.8727709e+002
  1.9700000e+001  7.7107336e+004  7.7115601e+004 -6.1803255e+003 -6.1734629e+003  5.0000000e+002  4.8805751e+002
  1.9800000e+001  7.6489776e+004  7.6497600e+004 -6.1708207e+003 -6.1641390e+003  5.0000000e+002  4.8857943e+002
  1.9900000e+001  7.5873182e+004  7.5880654e+004 -6.1609948e+003 -6.1544551e+003  5.0000000e+002  4.8903865e+002
  2.0000000e+001  7.5257588e+004  7.5265515e+004 -6.1508419e+003 -6.1441239e+003  5.0000000e+002  4.8913182e+002
  2.0100000e+001  7.4643025e+004  7.4654315e+004 -6.1403559e+003 -6.1323274e+003  5.0000000e+002  4.8801807e+002
  2.0200000e+001  7.4029528e+004  7.4040917e+004 -6.1295308e+003 -6.1214864e+003  5.0000000e+002  4.8831112e+002