covfil.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 -1.0579832e+001  1.8857451e+001 -1.8857451e+001  1.4860412e+002  1.3130520e+002 -1.3130520e+002 -3.0000000e+002  3.0000000e+002 -3.0000000e+002
  2.0000000e-001 -5.4498615e+000  1.8173702e+001 -1.8173702e+001  1.1268413e+002  1.1042962e+002 -1.1042962e+002 -2.9999545e+002  3.0000000e+002 -3.0000000e+002
  3.0000000e-001  1.1890871e+001  1.8147301e+001 -1.8147301e+001  1.3396716e+002  8.7703771e+001 -8.7703771e+001 -3.0000203e+002  3.0000000e+002 -3.0000000e+002
  4.0000000e-001  2.0021837e+000  1.7761560e+001 -1.7761560e+001  6.3683127e+001  6.9004603e+001 -6.9004603e+001 -2.9995956e+002  3.0000000e+002 -3.0000000e+002
  5.0000000e-001  3.0712196e+001  1.7133504e+001 -1.7133504e+001  1.2134913e+002  5.5046358e+001 -5.5046358e+001 -3.0002244e+002  2.9999999e+002 -2.9999999e+002
  6.0000000e-001  1.2483494e+001  1.6431818e+001 -1.6431818e+001  5.3620547e+001  4.4809348e+001 -4.4809348e+001 -2.9989611e+002  2.9999999e+002 -2.9999999e+002
  7.0000000e-001  1.0788048e+001  1.5741296e+001 -1.5741296e+001  3.9828692e+001  3.7214520e+001 -3.7214520e+001 -2.9985383e+002  2.9999998e+002 -2.9999998e+002
  8.0000000e-001  2.4103141e+001  1.5094895e+001 -1.5094895e+001  5.6063738e+001  3.1464298e+001 -3.1464298e+001 -2.9993204e+002  2.9999996e+002 -2.9999996e+002
  9.0000000e-001  3.0050649e+001  1.4501917e+001 -1.4501917e+001  5.6612921e+001  2.7015697e+001 -2.7015697e+001 -2.9993592e+002  2.9999994e+002 -2.9999994e+002
  1.0000000e+000  2.2958136e+001  1.3961909e+001 -1.3961909e+001  3.8558232e+001  2.3503635e+001 -2.3503635e+001 -2.9974075e+002  2.9999991e+002 -2.9999991e+002
  1.1000000e+000  1.7426993e+001  1.3470799e+001 -1.3470799e+001  2.6408690e+001  2.0679983e+001 -2.0679983e+001 -2.9955240e+002  2.9999986e+002 -2.9999986e+002
  1.2000000e+000  2.1449521e+001  1.3023490e+001 -1.3023490e+001  2.8078094e+001  1.8372930e+001 -1.8372930e+001 -2.9958803e+002  2.9999979e+002 -2.9999979e+002
  1.3000000e+000  2.0967004e+001  1.2614921e+001 -1.2614921e+001  2.4456614e+001  1.6461023e+001 -1.6461023e+001 -2.9948016e+002  2.9999969e+002 -2.9999969e+002
  1.4000000e+000  9.4149941e+000  1.2240469e+001 -1.2240469e+001  1.0042950e+001  1.4856645e+001 -1.4856645e+001 -2.9890679e+002  2.9999956e+002 -2.9999956e+002
  1.5000000e+000  1.0677297e+001  1.1896054e+001 -1.1896054e+001  1.0314198e+001  1.3495363e+001 -1.3495363e+001 -2.9891969e+002  2.9999938e+002 -2.9999938e+002
  1.6000000e+000  9.0241928e+000  1.1578139e+001 -1.1578139e+001  7.9020583e+000  1.2328950e+001 -1.2328950e+001 -2.9875376e+002  2.9999915e+002 -2.9999915e+002
  1.7000000e+000  3.7492942e+000  1.1283674e+001 -1.1283674e+001  2.7368335e+000  1.1320723e+001 -1.1320723e+001 -2.9830086e+002  2.9999884e+002 -2.9999884e+002
  1.8000000e+000 -1.1034358e+000  1.1010040e+001 -1.1010040e+001 -1.3883778e+000  1.0442365e+001 -1.0442365e+001 -2.9784221e+002  2.9999846e+002 -2.9999846e+002
  1.9000000e+000 -1.6479271e+000  1.0754979e+001 -1.0754979e+001 -1.6741973e+000  9.6717260e+000 -9.6717260e+000 -2.9779879e+002  2.9999796e+002 -2.9999796e+002
  2.0000000e+000  5.6713404e+000  1.0516548e+001 -1.0516548e+001  3.8242771e+000  8.9912677e+000 -8.9912677e+000 -2.9873674e+002  2.9999734e+002 -2.9999734e+002
  2.1000000e+000  1.2008231e+001  1.0293062e+001 -1.0293062e+001  8.0020065e+000  8.3869479e+000 -8.3869479e+000 -2.9961070e+002  2.9999656e+002 -2.9999656e+002
  2.2000000e+000  8.9840650e+000  1.0083059e+001 -1.0083059e+001  5.4830732e+000  7.8474102e+000 -7.8474102e+000 -2.9895617e+002  2.9999560e+002 -2.9999560e+002
  2.3000000e+000  1.0926288e+001  9.8852627e+000 -9.8852627e+000  6.4015854e+000  7.3633854e+000 -7.3633854e+000 -2.9923158e+002  2.9999442e+002 -2.9999442e+002
  2.4000000e+000  7.7028930e+000  9.6985578e+000 -9.6985578e+000  4.0679746e+000  6.9272423e+000 -6.9272423e+000 -2.9834948e+002  2.9999297e+002 -2.9999297e+002
  2.5000000e+000  1.1955971e+001  9.5219632e+000 -9.5219632e+000  6.3607463e+000  6.5326508e+000 -6.5326508e+000 -2.9935462e+002  2.9999122e+002 -2.9999122e+002
  2.6000000e+000  9.2207083e+000  9.3546134e+000 -9.3546134e+000  4.4855608e+000  6.1743188e+000 -6.1743188e+000 -2.9834712e+002  2.9998910e+002 -2.9998910e+002
  2.7000000e+000  6.2350383e+000  9.1957425e+000 -9.1957425e+000  2.6462315e+000  5.8477990e+000 -5.8477990e+000 -2.9718044e+002  2.9998656e+002 -2.9998656e+002
  2.8000000e+000  4.4089089e+000  9.0446699e+000 -9.0446699e+000  1.5803984e+000  5.5493262e+000 -5.5493262e+000 -2.9637555e+002  2.9998353e+002 -2.9998353e+002
  2.9000000e+000  7.2022491e+000  8.9007894e+000 -8.9007894e+000  2.9558890e+000  5.2756956e+000 -5.2756956e+000 -2.9751711e+002  2.9997992e+002 -2.9997992e+002
  3.0000000e+000  7.6462916e+000  8.7635586e+000 -8.7635586e+000  3.0655605e+000  5.0241611e+000 -5.0241611e+000 -2.9758784e+002  2.9997565e+002 -2.9997565e+002
  3.1000000e+000  5.6904834e+000  8.6324916e+000 -8.6324916e+000  2.0256429e+000  4.7923680e+000 -4.7923680e+000 -2.9634823e+002  2.9997062e+002 -2.9997062e+002
  3.2000000e+000  9.8173732e+000  8.5071513e+000 -8.5071513e+000  3.8768229e+000  4.5782866e+000 -4.5782866e+000 -2.9874626e+002  2.9996471e+002 -2.9996471e+002
  3.3000000e+000  1.1033340e+001  8.3871439e+000 -8.3871439e+000  4.2882603e+000  4.3801396e+000 -4.3801396e+000 -2.9930860e+002  2.9995779e+002 -2.9995779e+002
  3.4000000e+000  1.3160066e+001  8.2721136e+000 -8.2721136e+000  5.0688364e+000  4.1963982e+000 -4.1963982e+000 -3.0059332e+002  2.9994973e+002 -2.9994973e+002
  3.5000000e+000  9.5432047e+000  8.1617382e+000 -8.1617382e+000  3.3667960e+000  4.0257185e+000 -4.0257185e+000 -2.9712158e+002  2.9994036e+002 -2.9994036e+002
  3.6000000e+000  4.3681136e+000  8.0557256e+000 -8.0557256e+000  1.1414851e+000  3.8669573e+000 -3.8669573e+000 -2.9198808e+002  2.9992950e+002 -2.9992950e+002
  3.7000000e+000  2.2378274e+000  7.9538111e+000 -7.9538111e+000  2.8652948e-001  3.7191070e+000 -3.7191070e+000 -2.8967764e+002  2.9991696e+002 -2.9991696e+002
  3.8000000e+000  3.8924289e+000  7.8557542e+000 -7.8557542e+000  9.6783384e-001  3.5812534e+000 -3.5812534e+000 -2.9151446e+002  2.9990250e+002 -2.9990250e+002
  3.9000000e+000  3.0569011e+000  7.7613360e+000 -7.7613360e+000  6.6018594e-001  3.4525672e+000 -3.4525672e+000 -2.9034813e+002  2.9988588e+002 -2.9988588e+002
  4.0000000e+000  3.3586084e+000  7.6703564e+000 -7.6703564e+000  7.9678026e-001  3.3323753e+000 -3.3323753e+000 -2.9066490e+002  2.9986681e+002 -2.9986681e+002
  4.1000000e+000  5.0881613e+000  7.5826335e+000 -7.5826335e+000  1.4465345e+000  3.2200449e+000 -3.2200449e+000 -2.9313200e+002  2.9984498e+002 -2.9984498e+002
  4.2000000e+000  3.9887238e+000  7.4980011e+000 -7.4980011e+000  1.0570923e+000  3.1149991e+000 -3.1149991e+000 -2.9108432e+002  2.9982005e+002 -2.9982005e+002
  4.3000000e+000  3.4965487e+000  7.4163073e+000 -7.4163073e+000  9.0308089e-001  3.0168163e+000 -3.0168163e+000 -2.9000529e+002  2.9979163e+002 -2.9979163e+002
  4.4000000e+000  5.7218901e+000  7.3374149e+000 -7.3374149e+000  1.6837908e+000  2.9250642e+000 -2.9250642e+000 -2.9416912e+002  2.9975930e+002 -2.9975930e+002
  4.5000000e+000  6.8381782e+000  7.2611990e+000 -7.2611990e+000  2.0565566e+000  2.8392732e+000 -2.8392732e+000 -2.9617687e+002  2.9972260e+002 -2.9972260e+002
  4.6000000e+000  7.0399810e+000  7.1875443e+000 -7.1875443e+000  2.1145018e+000  2.7591386e+000 -2.7591386e+000 -2.9615736e+002  2.9968102e+002 -2.9968102e+002
  4.7000000e+000  5.3417461e+000  7.1163468e+000 -7.1163468e+000  1.5644602e+000  2.6844074e+000 -2.6844074e+000 -2.9134847e+002  2.9963401e+002 -2.9963401e+002
  4.8000000e+000  7.5457921e+000  7.0475133e+000 -7.0475133e+000  2.2696464e+000  2.6149516e+000 -2.6149516e+000 -2.9691137e+002  2.9958095e+002 -2.9958095e+002
  4.9000000e+000  8.3359719e+000  6.9809632e+000 -6.9809632e+000  2.5081453e+000  2.5502869e+000 -2.5502869e+000 -2.9855740e+002  2.9952117e+002 -2.9952117e+002
  5.0000000e+000  8.8560934e+000  6.9166186e+000 -6.9166186e+000  2.6567387e+000  2.4903068e+000 -2.4903068e+000 -2.9939985e+002  2.9945393e+002 -2.9945393e+002
  5.1000000e+000  6.5926722e+000  6.8544121e+000 -6.8544121e+000  1.9717962e+000  2.4348612e+000 -2.4348612e+000 -2.9068115e+002  2.9937844e+002 -2.9937844e+002
  5.2000000e+000  3.0393360e+000  6.7942850e+000 -6.7942850e+000  9.4098388e-001  2.3841641e+000 -2.3841641e+000 -2.7675081e+002  2.9929384e+002 -2.9929384e+002
  5.3000000e+000  3.1985255e-001  6.7361949e+000 -6.7361949e+000  1.9726420e-001  2.3384198e+000 -2.3384198e+000 -2.6549220e+002  2.9919914e+002 -2.9919914e+002
  5.4000000e+000 -1.3073905e+000  6.6801151e+000 -6.6801151e+000 -2.0232645e-001  2.2975793e+000 -2.2975793e+000 -2.5839267e+002  2.9909324e+002 -2.9909324e+002
  5.5000000e+000 -1.8035418e+000  6.6260278e+000 -6.6260278e+000 -2.6542611e-001  2.2614894e+000 -2.2614894e+000 -2.5617025e+002  2.9897486e+002 -2.9897486e+002
  5.6000000e+000 -1.8190284e+000  6.5739210e+000 -6.5739210e+000 -1.8980244e-001  2.2298879e+000 -2.2298879e+000 -2.5619921e+002  2.9884259e+002 -2.9884259e+002
  5.7000000e+000  8.4529796e-001  6.5237853e+000 -6.5237853e+000  6.2293677e-001  2.2026066e+000 -2.2026066e+000 -2.7046629e+002  2.9869487e+002 -2.9869487e+002
  5.8000000e+000  1.5534035e+000  6.4756162e+000 -6.4756162e+000  8.7846960e-001  2.1785695e+000 -2.1785695e+000 -2.7412450e+002  2.9853000e+002 -2.9853000e+002
  5.9000000e+000  1.5728325e+000  6.4293903e+000 -6.4293903e+000  9.4277024e-001  2.1583699e+000 -2.1583699e+000 -2.7367066e+002  2.9834624e+002 -2.9834624e+002
  6.0000000e+000  1.1913143e+000  6.3851068e+000 -6.3851068e+000  9.0051328e-001  2.1422564e+000 -2.1422564e+000 -2.7051656e+002  2.9814169e+002 -2.9814169e+002
  6.1000000e+000  2.8268622e+000  6.3427795e+000 -6.3427795e+000  1.3986052e+000  2.1304450e+000 -2.1304450e+000 -2.8128958e+002  2.9791432e+002 -2.9791432e+002
  6.2000000e+000  3.8399347e+000  6.3024355e+000 -6.3024355e+000  1.7214538e+000  2.1216483e+000 -2.1216483e+000 -2.8776437e+002  2.9766191e+002 -2.9766191e+002
  6.3000000e+000  2.8900934e+000  6.2640752e+000 -6.2640752e+000  1.5218966e+000  2.1161059e+000 -2.1161059e+000 -2.7878439e+002  2.9738214e+002 -2.9738214e+002
  6.4000000e+000  4.7033949e+000  6.2277121e+000 -6.2277121e+000  2.0550060e+000  2.1152819e+000 -2.1152819e+000 -2.9279711e+002  2.9707257e+002 -2.9707257e+002
  6.5000000e+000  5.8037792e+000  6.1934069e+000 -6.1934069e+000  2.3924800e+000  2.1167542e+000 -2.1167542e+000 -3.0078958e+002  2.9673053e+002 -2.9673053e+002
  6.6000000e+000  5.2709945e+000  6.1611600e+000 -6.1611600e+000  2.2978524e+000  2.1209806e+000 -2.1209806e+000 -2.9335201e+002  2.9635326e+002 -2.9635326e+002
  6.7000000e+000  2.8686343e+000  6.1309897e+000 -6.1309897e+000  1.7165136e+000  2.1296139e+000 -2.1296139e+000 -2.6666191e+002  2.9593791e+002 -2.9593791e+002
  6.8000000e+000  4.4332970e+000  6.1029689e+000 -6.1029689e+000  2.1888556e+000  2.1453778e+000 -2.1453778e+000 -2.8148725e+002  2.9548139e+002 -2.9548139e+002
  6.9000000e+000  3.4599034e+000  6.0772626e+000 -6.0772626e+000  1.9864288e+000  2.1627693e+000 -2.1627693e+000 -2.6793672e+002  2.9498005e+002 -2.9498005e+002
  7.0000000e+000  4.6200842e+000  6.0538758e+000 -6.0538758e+000  2.3546315e+000  2.1857698e+000 -2.1857698e+000 -2.7930713e+002  2.9443023e+002 -2.9443023e+002
  7.1000000e+000  5.0363106e+000  6.0329445e+000 -6.0329445e+000  2.5219662e+000  2.2105449e+000 -2.2105449e+000 -2.8148101e+002  2.9382785e+002 -2.9382785e+002
  7.2000000e+000  5.8610669e+000  6.0144883e+000 -6.0144883e+000  2.7998276e+000  2.2383529e+000 -2.2383529e+000 -2.8893345e+002  2.9316880e+002 -2.9316880e+002
  7.3000000e+000  3.9828598e+000  5.9985714e+000 -5.9985714e+000  2.3387630e+000  2.2681673e+000 -2.2681673e+000 -2.5893140e+002  2.9244876e+002 -2.9244876e+002
  7.4000000e+000  2.7522049e+000  5.9852265e+000 -5.9852265e+000  2.0567658e+000  2.3066589e+000 -2.3066589e+000 -2.3756471e+002  2.9166338e+002 -2.9166338e+002
  7.5000000e+000  5.8022000e+000  5.9747262e+000 -5.9747262e+000  2.9766261e+000  2.3530640e+000 -2.3530640e+000 -2.8063675e+002  2.9080752e+002 -2.9080752e+002
  7.6000000e+000  6.2744133e+000  5.9673319e+000 -5.9673319e+000  3.1643165e+000  2.3936181e+000 -2.3936181e+000 -2.8327126e+002  2.8987532e+002 -2.8987532e+002