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

  2.0300000e+001  7.3417130e+004  7.3429664e+004 -6.1183606e+003 -6.1098973e+003  5.0000000e+002  4.8818541e+002
  2.0400000e+001  7.2805867e+004  7.2822297e+004 -6.1068393e+003 -6.0969100e+003  5.0000000e+002  4.8702874e+002
  2.0500000e+001  7.2195774e+004  7.2211197e+004 -6.0949611e+003 -6.0854667e+003  5.0000000e+002  4.8777939e+002
  2.0600000e+001  7.1586887e+004  7.1603426e+004 -6.0827201e+003 -6.0728471e+003  5.0000000e+002  4.8772739e+002
  2.0700000e+001  7.0979243e+004  7.0996005e+004 -6.0701105e+003 -6.0602041e+003  5.0000000e+002  4.8800328e+002
  2.0800000e+001  7.0372878e+004  7.0387660e+004 -6.0571264e+003 -6.0480146e+003  5.0000000e+002  4.8902324e+002
  2.0900000e+001  6.9767830e+004  6.9777512e+004 -6.0437624e+003 -6.0365945e+003  5.0000000e+002  4.9102251e+002
  2.1000000e+001  6.9164138e+004  6.9169251e+004 -6.0300127e+003 -6.0245532e+003  5.0000000e+002  4.9273184e+002
  2.1100000e+001  6.8561841e+004  6.8566435e+004 -6.0158720e+003 -6.0105940e+003  5.0000000e+002  4.9307094e+002
  2.1200000e+001  6.7960977e+004  6.7964585e+004 -6.0013349e+003 -5.9964069e+003  5.0000000e+002  4.9353816e+002
  2.1300000e+001  6.7361587e+004  6.7364635e+004 -5.9863961e+003 -5.9816557e+003  5.0000000e+002  4.9385536e+002
  2.1400000e+001  6.6763711e+004  6.6764359e+004 -5.9710506e+003 -5.9671603e+003  5.0000000e+002  4.9468973e+002
  2.1500000e+001  6.6167391e+004  6.6168786e+004 -5.9552934e+003 -5.9511050e+003  5.0000000e+002  4.9459380e+002
  2.1600000e+001  6.5572666e+004  6.5574745e+004 -5.9391198e+003 -5.9346628e+003  5.0000000e+002  4.9452617e+002
  2.1700000e+001  6.4979581e+004  6.4980622e+004 -5.9225251e+003 -5.9184162e+003  5.0000000e+002  4.9492544e+002
  2.1800000e+001  6.4388176e+004  6.4390915e+004 -5.9055050e+003 -5.9007731e+003  5.0000000e+002  4.9459644e+002
  2.1900000e+001  6.3798494e+004  6.3798522e+004 -5.8880552e+003 -5.8842585e+003  5.0000000e+002  4.9540439e+002
  2.2000000e+001  6.3210579e+004  6.3209074e+004 -5.8701718e+003 -5.8668814e+003  5.0000000e+002  4.9587853e+002
  2.2100000e+001  6.2624474e+004  6.2622949e+004 -5.8518510e+003 -5.8485343e+003  5.0000000e+002  4.9596635e+002
  2.2200000e+001  6.2040224e+004  6.2036822e+004 -5.8330893e+003 -5.8303842e+003  5.0000000e+002  4.9648498e+002
  2.2300000e+001  6.1457871e+004  6.1457157e+004 -5.8138834e+003 -5.8102213e+003  5.0000000e+002  4.9593966e+002
  2.2400000e+001  6.0877462e+004  6.0879782e+004 -5.7942304e+003 -5.7895144e+003  5.0000000e+002  4.9535278e+002
  2.2500000e+001  6.0299040e+004  6.0302067e+004 -5.7741275e+003 -5.7691641e+003  5.0000000e+002  4.9530619e+002
  2.2600000e+001  5.9722651e+004  5.9723506e+004 -5.7535724e+003 -5.7493300e+003  5.0000000e+002  4.9587163e+002
  2.2700000e+001  5.9148341e+004  5.9150688e+004 -5.7325631e+003 -5.7278109e+003  5.0000000e+002  4.9565643e+002
  2.2800000e+001  5.8576154e+004  5.8574406e+004 -5.7110977e+003 -5.7076894e+003  5.0000000e+002  4.9657460e+002
  2.2900000e+001  5.8006136e+004  5.8003928e+004 -5.6891748e+003 -5.6858926e+003  5.0000000e+002  4.9673446e+002
  2.3000000e+001  5.7438334e+004  5.7442040e+004 -5.6667935e+003 -5.6615639e+003  5.0000000e+002  4.9567454e+002
  2.3100000e+001  5.6872793e+004  5.6877497e+004 -5.6439529e+003 -5.6384056e+003  5.0000000e+002  4.9559006e+002
  2.3200000e+001  5.6309559e+004  5.6312552e+004 -5.6206529e+003 -5.6156636e+003  5.0000000e+002  4.9600438e+002
  2.3300000e+001  5.5748678e+004  5.5753436e+004 -5.5968934e+003 -5.5913461e+003  5.0000000e+002  4.9578395e+002
  2.3400000e+001  5.5190196e+004  5.5194705e+004 -5.5726750e+003 -5.5672190e+003  5.0000000e+002  4.9592633e+002
  2.3500000e+001  5.4634158e+004  5.4640607e+004 -5.5479986e+003 -5.5419477e+003  5.0000000e+002  4.9569479e+002
  2.3600000e+001  5.4080611e+004  5.4086623e+004 -5.5228654e+003 -5.5169730e+003  5.0000000e+002  4.9586973e+002
  2.3700000e+001  5.3529600e+004  5.3537979e+004 -5.4972773e+003 -5.4906770e+003  5.0000000e+002  4.9558739e+002
  2.3800000e+001  5.2981171e+004  5.2991279e+004 -5.4712364e+003 -5.4641409e+003  5.0000000e+002  4.9542286e+002
  2.3900000e+001  5.2435368e+004  5.2445854e+004 -5.4447454e+003 -5.4375782e+003  5.0000000e+002  4.9547717e+002
  2.4000000e+001  5.1892237e+004  5.1902264e+004 -5.4178072e+003 -5.4108238e+003  5.0000000e+002  4.9565676e+002
  2.4100000e+001  5.1351821e+004  5.1362293e+004 -5.3904256e+003 -5.3833541e+003  5.0000000e+002  4.9569734e+002
  2.4200000e+001  5.0814166e+004  5.0824357e+004 -5.3626045e+003 -5.3556634e+003  5.0000000e+002  4.9584200e+002
  2.4300000e+001  5.0279315e+004  5.0289413e+004 -5.3343483e+003 -5.3274815e+003  5.0000000e+002  4.9595536e+002
  2.4400000e+001  4.9747311e+004  4.9758535e+004 -5.3056620e+003 -5.2985148e+003  5.0000000e+002  4.9589818e+002
  2.4500000e+001  4.9218197e+004  4.9228181e+004 -5.2765511e+003 -5.2698149e+003  5.0000000e+002  4.9616297e+002
  2.4600000e+001  4.8692014e+004  4.8700803e+004 -5.2470214e+003 -5.2406759e+003  5.0000000e+002  4.9641091e+002
  2.4700000e+001  4.8168806e+004  4.8177661e+004 -5.2170792e+003 -5.2107588e+003  5.0000000e+002  4.9648651e+002
  2.4800000e+001  4.7648612e+004  4.7656438e+004 -5.1867315e+003 -5.1807449e+003  5.0000000e+002  4.9669762e+002
  2.4900000e+001  4.7131473e+004  4.7137158e+004 -5.1559854e+003 -5.1506353e+003  5.0000000e+002  4.9703661e+002
  2.5000000e+001  4.6617428e+004  4.6624601e+004 -5.1248488e+003 -5.1191215e+003  5.0000000e+002  4.9692476e+002
  2.5100000e+001  4.6106516e+004  4.6113425e+004 -5.0933298e+003 -5.0877145e+003  5.0000000e+002  4.9702576e+002
  2.5200000e+001  4.5598775e+004  4.5603507e+004 -5.0614371e+003 -5.0564493e+003  5.0000000e+002  4.9734383e+002
  2.5300000e+001  4.5094241e+004  4.5098605e+004 -5.0291797e+003 -5.0243210e+003  5.0000000e+002  4.9744406e+002
  2.5400000e+001  4.4592950e+004  4.4597329e+004 -4.9965673e+003 -4.9917349e+003  5.0000000e+002  4.9749867e+002
  2.5500000e+001  4.4094939e+004  4.4096160e+004 -4.9636096e+003 -4.9596349e+003  5.0000000e+002  4.9789540e+002
  2.5600000e+001  4.3600240e+004  4.3599835e+004 -4.9303171e+003 -4.9267817e+003  5.0000000e+002  4.9811256e+002
  2.5700000e+001  4.3108886e+004  4.3106268e+004 -4.8967004e+003 -4.8937441e+003  5.0000000e+002  4.9838197e+002
  2.5800000e+001  4.2620910e+004  4.2620308e+004 -4.8627706e+003 -4.8593057e+003  5.0000000e+002  4.9820851e+002
  2.5900000e+001  4.2136342e+004  4.2135921e+004 -4.8285393e+003 -4.8250416e+003  5.0000000e+002  4.9822718e+002
  2.6000000e+001  4.1655212e+004  4.1656716e+004 -4.7940182e+003 -4.7900572e+003  5.0000000e+002  4.9807459e+002
  2.6100000e+001  4.1177548e+004  4.1180137e+004 -4.7592194e+003 -4.7550159e+003  5.0000000e+002  4.9801031e+002
  2.6200000e+001  4.0703377e+004  4.0706898e+004 -4.7241554e+003 -4.7197550e+003  5.0000000e+002  4.9796398e+002
  2.6300000e+001  4.0232725e+004  4.0235566e+004 -4.6888389e+003 -4.6846355e+003  5.0000000e+002  4.9806993e+002
  2.6400000e+001  3.9765617e+004  3.9769107e+004 -4.6532828e+003 -4.6489572e+003  5.0000000e+002  4.9805102e+002
  2.6500000e+001  3.9302076e+004  3.9304022e+004 -4.6175004e+003 -4.6135715e+003  5.0000000e+002  4.9822962e+002
  2.6600000e+001  3.8842124e+004  3.8843397e+004 -4.5815051e+003 -4.5777613e+003  5.0000000e+002  4.9832514e+002
  2.6700000e+001  3.8385782e+004  3.8386488e+004 -4.5453107e+003 -4.5417235e+003  5.0000000e+002  4.9840817e+002
  2.6800000e+001  3.7933068e+004  3.7934357e+004 -4.5089308e+003 -4.5052374e+003  5.0000000e+002  4.9839100e+002
  2.6900000e+001  3.7484001e+004  3.7483267e+004 -4.4723795e+003 -4.4691658e+003  5.0000000e+002  4.9859199e+002
  2.7000000e+001  3.7038597e+004  3.7036442e+004 -4.4356710e+003 -4.4327909e+003  5.0000000e+002  4.9873631e+002
  2.7100000e+001  3.6596872e+004  3.6595372e+004 -4.3988193e+003 -4.3958123e+003  5.0000000e+002  4.9870846e+002
  2.7200000e+001  3.6158838e+004  3.6159575e+004 -4.3618388e+003 -4.3583703e+003  5.0000000e+002  4.9855690e+002
  2.7300000e+001  3.5724508e+004  3.5726016e+004 -4.3247439e+003 -4.3211404e+003  5.0000000e+002  4.9852550e+002
  2.7400000e+001  3.5293892e+004  3.5295139e+004 -4.2875489e+003 -4.2840323e+003  5.0000000e+002  4.9857475e+002
  2.7500000e+001  3.4867001e+004  3.4868481e+004 -4.2502682e+003 -4.2467350e+003  5.0000000e+002  4.9858525e+002
  2.7600000e+001  3.4443841e+004  3.4445700e+004 -4.2129163e+003 -4.2093387e+003  5.0000000e+002  4.9858492e+002
  2.7700000e+001  3.4024420e+004  3.4028914e+004 -4.1755073e+003 -4.1714348e+003  5.0000000e+002  4.9842025e+002
  2.7800000e+001  3.3608741e+004  3.3613340e+004 -4.1380557e+003 -4.1340074e+003  5.0000000e+002  4.9844344e+002
  2.7900000e+001  3.3196809e+004  3.3202709e+004 -4.1005756e+003 -4.0963187e+003  5.0000000e+002  4.9838155e+002
  2.8000000e+001  3.2788626e+004  3.2794581e+004 -4.0630811e+003 -4.0588644e+003  5.0000000e+002  4.9840884e+002
  2.8100000e+001  3.2384193e+004  3.2389359e+004 -4.0255861e+003 -4.0215701e+003  5.0000000e+002  4.9849327e+002
  2.8200000e+001  3.1983509e+004  3.1989196e+004 -3.9881044e+003 -3.9840388e+003  5.0000000e+002  4.9848657e+002
  2.8300000e+001  3.1586571e+004  3.1593607e+004 -3.9506497e+003 -3.9463848e+003  5.0000000e+002  4.9842512e+002
  2.8400000e+001  3.1193378e+004  3.1198639e+004 -3.9132354e+003 -3.9093487e+003  5.0000000e+002  4.9857105e+002
  2.8500000e+001  3.0803922e+004  3.0808116e+004 -3.8758748e+003 -3.8722280e+003  5.0000000e+002  4.9866667e+002
  2.8600000e+001  3.0418200e+004  3.0422363e+004 -3.8385809e+003 -3.8349841e+003  5.0000000e+002  4.9869323e+002
  2.8700000e+001  3.0036204e+004  3.0041055e+004 -3.8013664e+003 -3.7976938e+003  5.0000000e+002  4.9867373e+002
  2.8800000e+001  2.9657924e+004  2.9661929e+004 -3.7642439e+003 -3.7607633e+003  5.0000000e+002  4.9875039e+002
  2.8900000e+001  2.9283351e+004  2.9286835e+004 -3.7272256e+003 -3.7238768e+003  5.0000000e+002  4.9880486e+002
  2.9000000e+001  2.8912475e+004  2.8916814e+004 -3.6903235e+003 -3.6868739e+003  5.0000000e+002  4.9877456e+002
  2.9100000e+001  2.8545282e+004  2.8548377e+004 -3.6535492e+003 -3.6503484e+003  5.0000000e+002  4.9887066e+002
  2.9200000e+001  2.8181760e+004  2.8186146e+004 -3.6169141e+003 -3.6135449e+003  5.0000000e+002  4.9881453e+002
  2.9300000e+001  2.7821895e+004  2.7827333e+004 -3.5804292e+003 -3.5769367e+003  5.0000000e+002  4.9877392e+002
  2.9400000e+001  2.7465669e+004  2.7470579e+004 -3.5441052e+003 -3.5407430e+003  5.0000000e+002  4.9882546e+002
  2.9500000e+001  2.7113068e+004  2.7118788e+004 -3.5079525e+003 -3.5045108e+003  5.0000000e+002  4.9879957e+002
  2.9600000e+001  2.6764073e+004  2.6771210e+004 -3.4719811e+003 -3.4683720e+003  5.0000000e+002  4.9874035e+002
  2.9700000e+001  2.6418665e+004  2.6426196e+004 -3.4362006e+003 -3.4325847e+003  5.0000000e+002  4.9873959e+002
  2.9800000e+001  2.6076826e+004  2.6085270e+004 -3.4006205e+003 -3.3969228e+003  5.0000000e+002  4.9871030e+002
  2.9900000e+001  2.5738534e+004  2.5747147e+004 -3.3652495e+003 -3.3615823e+003  5.0000000e+002  4.9872215e+002
  3.0000000e+001  2.5403769e+004  2.5412436e+004 -3.3300964e+003 -3.3264765e+003  5.0000000e+002  4.9873987e+002