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

  7.7000000e+000  5.4368525e+000  5.9627979e+000 -5.9627979e+000  2.9722003e+000  2.4364231e+000 -2.4364231e+000 -2.6404199e+002  2.8886172e+002 -2.8886172e+002
  7.8000000e+000  7.6284294e+000  5.9611720e+000 -5.9611720e+000  3.6725499e+000  2.4860863e+000 -2.4860863e+000 -2.9649233e+002  2.8776161e+002 -2.8776161e+002
  7.9000000e+000  7.8435819e+000  5.9626853e+000 -5.9626853e+000  3.7824632e+000  2.5312048e+000 -2.5312048e+000 -2.9360697e+002  2.8656926e+002 -2.8656926e+002
  8.0000000e+000  8.3685436e+000  5.9671071e+000 -5.9671071e+000  3.9867188e+000  2.5791687e+000 -2.5791687e+000 -2.9614680e+002  2.8527971e+002 -2.8527971e+002
  8.1000000e+000  7.5707584e+000  5.9744990e+000 -5.9744990e+000  3.7774004e+000  2.6286584e+000 -2.6286584e+000 -2.7305723e+002  2.8388796e+002 -2.8388796e+002
  8.2000000e+000  8.7498345e+000  5.9848624e+000 -5.9848624e+000  4.1945133e+000  2.6856692e+000 -2.6856692e+000 -2.8868796e+002  2.8238908e+002 -2.8238908e+002
  8.3000000e+000  8.5360994e+000  5.9984610e+000 -5.9984610e+000  4.1597034e+000  2.7406647e+000 -2.7406647e+000 -2.7561491e+002  2.8077754e+002 -2.8077754e+002
  8.4000000e+000  9.1983237e+000  6.0151254e+000 -6.0151254e+000  4.4135530e+000  2.8007044e+000 -2.8007044e+000 -2.8054122e+002  2.7904844e+002 -2.7904844e+002
  8.5000000e+000  1.1147625e+001  6.0350029e+000 -6.0350029e+000  5.1068431e+000  2.8609577e+000 -2.8609577e+000 -3.1255419e+002  2.7719662e+002 -2.7719662e+002
  8.6000000e+000  1.1548649e+001  6.0580042e+000 -6.0580042e+000  5.2655363e+000  2.9141620e+000 -2.9141620e+000 -3.0990764e+002  2.7521736e+002 -2.7521736e+002
  8.7000000e+000  1.2049052e+001  6.0836662e+000 -6.0836662e+000  5.4578247e+000  2.9689586e+000 -2.9689586e+000 -3.0906463e+002  2.7310748e+002 -2.7310748e+002
  8.8000000e+000  1.2288820e+001  6.1119407e+000 -6.1119407e+000  5.5539395e+000  3.0247385e+000 -3.0247385e+000 -3.0185639e+002  2.7086412e+002 -2.7086412e+002
  8.9000000e+000  1.2534791e+001  6.1427413e+000 -6.1427413e+000  5.6494386e+000  3.0830730e+000 -3.0830730e+000 -2.9445913e+002  2.6848487e+002 -2.6848487e+002
  9.0000000e+000  1.4735551e+001  6.1760579e+000 -6.1760579e+000  6.4807281e+000  3.1439684e+000 -3.1439684e+000 -3.3228010e+002  2.6596761e+002 -2.6596761e+002
  9.1000000e+000  1.2757417e+001  6.2118751e+000 -6.2118751e+000  5.7062764e+000  3.1946092e+000 -3.1946092e+000 -2.7015790e+002  2.6331051e+002 -2.6331051e+002
  9.2000000e+000  1.0438028e+001  6.2494616e+000 -6.2494616e+000  4.7833555e+000  3.2636977e+000 -3.2636977e+000 -2.0131160e+002  2.6051403e+002 -2.6051403e+002
  9.3000000e+000  1.0435399e+001  6.2896962e+000 -6.2896962e+000  4.7685190e+000  3.3598852e+000 -3.3598852e+000 -1.8958443e+002  2.5757647e+002 -2.5757647e+002
  9.4000000e+000  1.1404480e+001  6.3339525e+000 -6.3339525e+000  5.1500383e+000  3.4616072e+000 -3.4616072e+000 -2.0112689e+002  2.5449265e+002 -2.5449265e+002
  9.5000000e+000  1.0804744e+001  6.3823284e+000 -6.3823284e+000  4.8645115e+000  3.5573376e+000 -3.5573376e+000 -1.7410485e+002  2.5125754e+002 -2.5125754e+002
  9.6000000e+000  1.1216188e+001  6.4342169e+000 -6.4342169e+000  5.0075257e+000  3.6659917e+000 -3.6659917e+000 -1.7205675e+002  2.4786829e+002 -2.4786829e+002
  9.7000000e+000  1.0827661e+001  6.4901378e+000 -6.4901378e+000  4.7861413e+000  3.7745283e+000 -3.7745283e+000 -1.5050774e+002  2.4432110e+002 -2.4432110e+002
  9.8000000e+000  1.3556086e+001  6.5497840e+000 -6.5497840e+000  5.9961480e+000  3.8941164e+000 -3.8941164e+000 -2.0392364e+002  2.4061356e+002 -2.4061356e+002
  9.9000000e+000  1.0225477e+001  6.6135256e+000 -6.6135256e+000  4.3512684e+000  3.9813485e+000 -3.9813485e+000 -1.1050918e+002  2.3674285e+002 -2.3674285e+002
  1.0000000e+001  9.3232740e+000  6.6789648e+000 -6.6789648e+000  3.8359960e+000  4.1246415e+000 -4.1246415e+000 -7.8900018e+001  2.3271322e+002 -2.3271322e+002
  1.0100000e+001  7.7009845e+000  6.7493994e+000 -6.7493994e+000  2.9280508e+000  4.2914272e+000 -4.2914272e+000 -3.2133096e+001  2.2852061e+002 -2.2852061e+002
  1.0200000e+001  4.4218638e+000  6.8258875e+000 -6.8258875e+000  1.0916752e+000  4.5033940e+000 -4.5033940e+000  4.9877255e+001  2.2415899e+002 -2.2415899e+002
  1.0300000e+001  8.1258582e+000  6.9108195e+000 -6.9108195e+000  3.0170133e+000  4.8381201e+000 -4.8381201e+000 -3.1394823e+001  2.1961703e+002 -2.1961703e+002
  1.0400000e+001  9.2304475e+000  7.0115501e+000 -7.0115501e+000  3.5327377e+000  5.0343935e+000 -5.0343935e+000 -4.9118142e+001  2.1486549e+002 -2.1486549e+002
  1.0500000e+001  8.4546987e+000  7.1174892e+000 -7.1174892e+000  2.9370171e+000  5.2002506e+000 -5.2002506e+000 -2.4487518e+001  2.0990492e+002 -2.0990492e+002
  1.0600000e+001  6.9182093e+000  7.2257823e+000 -7.2257823e+000  1.8553153e+000  5.3857939e+000 -5.3857939e+000  1.4388723e+001  2.0474460e+002 -2.0474460e+002
  1.0700000e+001  7.6826666e+000  7.3371239e+000 -7.3371239e+000  2.1934109e+000  5.6163705e+000 -5.6163705e+000  2.4288825e+000  1.9939307e+002 -1.9939307e+002
  1.0800000e+001  6.5373929e+000  7.4538782e+000 -7.4538782e+000  1.2978766e+000  5.8132346e+000 -5.8132346e+000  2.9799233e+001  1.9385402e+002 -1.9385402e+002
  1.0900000e+001  8.8670670e+000  7.5727067e+000 -7.5727067e+000  2.7101367e+000  6.0401657e+000 -6.0401657e+000 -1.2940915e+001  1.8814107e+002 -1.8814107e+002
  1.1000000e+001  8.7237297e+000  7.6949534e+000 -7.6949534e+000  2.4518294e+000  6.1807913e+000 -6.1807913e+000 -5.1314903e+000  1.8226553e+002 -1.8226553e+002
  1.1100000e+001  8.8310198e+000  7.8136172e+000 -7.8136172e+000  2.3655111e+000  6.3158164e+000 -6.3158164e+000 -2.6138172e+000  1.7625707e+002 -1.7625707e+002
  1.1200000e+001  5.7508543e+000  7.9280980e+000 -7.9280980e+000  5.3794437e-002  6.4370606e+000 -6.4370606e+000  5.4968761e+001  1.7014661e+002 -1.7014661e+002
  1.1300000e+001  6.5339462e+000  8.0373448e+000 -8.0373448e+000  4.7050915e-001  6.6414219e+000 -6.6414219e+000  4.1915976e+001  1.6396690e+002 -1.6396690e+002
  1.1400000e+001  8.2705852e+000  8.1473978e+000 -8.1473978e+000  1.5891893e+000  6.7967736e+000 -6.7967736e+000  1.4909481e+001  1.5773566e+002 -1.5773566e+002
  1.1500000e+001  9.9421848e+000  8.2541630e+000 -8.2541630e+000  2.6534072e+000  6.8833451e+000 -6.8833451e+000 -8.1484604e+000  1.5147989e+002 -1.5147989e+002
  1.1600000e+001  8.2919866e+000  8.3526704e+000 -8.3526704e+000  1.2777592e+000  6.9171600e+000 -6.9171600e+000  1.9725469e+001  1.4523641e+002 -1.4523641e+002
  1.1700000e+001  9.5835764e+000  8.4398427e+000 -8.4398427e+000  2.0729938e+000  6.9757368e+000 -6.9757368e+000  3.5715031e+000  1.3904587e+002 -1.3904587e+002
  1.1800000e+001  3.9999589e+000  8.5187216e+000 -8.5187216e+000 -2.1466842e+000  6.9928206e+000 -6.9928206e+000  8.0017397e+001  1.3293884e+002 -1.3293884e+002
  1.1900000e+001  1.6339859e+000  8.5872599e+000 -8.5872599e+000 -3.9858890e+000  7.1327340e+000 -7.1327340e+000  1.0689369e+002  1.2694679e+002 -1.2694679e+002
  1.2000000e+001  1.1016284e-001  8.6556327e+000 -8.6556327e+000 -5.2026201e+000  7.3165736e+000 -7.3165736e+000  1.2011323e+002  1.2107792e+002 -1.2107792e+002
  1.2100000e+001  8.1517292e-002  8.7268278e+000 -8.7268278e+000 -5.2677801e+000  7.5102685e+000 -7.5102685e+000  1.1428864e+002  1.1533427e+002 -1.1533427e+002
  1.2200000e+001 -1.3871539e+000  8.8008965e+000 -8.8008965e+000 -6.4272092e+000  7.6568733e+000 -7.6568733e+000  1.2417491e+002  1.0971795e+002 -1.0971795e+002
  1.2300000e+001 -6.0280491e+000  8.8737484e+000 -8.8737484e+000 -1.0068119e+001  7.8030647e+000 -7.8030647e+000  1.6455772e+002  1.0423815e+002 -1.0423815e+002
  1.2400000e+001  9.9524758e-001  8.9453162e+000 -8.9453162e+000 -4.3150918e+000  8.0580110e+000 -8.0580110e+000  8.7067220e+001  9.8903131e+001 -9.8903131e+001
  1.2500000e+001 -3.7349180e+000  9.0234212e+000 -9.0234212e+000 -8.1001768e+000  8.0459137e+000 -8.0459137e+000  1.2585484e+002  9.3707873e+001 -9.3707873e+001
  1.2600000e+001 -2.7181996e+000  9.0874390e+000 -9.0874390e+000 -7.1698217e+000  8.1072010e+000 -8.1072010e+000  1.1001719e+002  8.8679232e+001 -8.8679232e+001
  1.2700000e+001 -3.0045281e+000  9.1449047e+000 -9.1449047e+000 -7.2922797e+000  8.1024853e+000 -8.1024853e+000  1.0636019e+002  8.3828588e+001 -8.3828588e+001
  1.2800000e+001 -6.2391106e+000  9.1920634e+000 -9.1920634e+000 -9.7489497e+000  8.0696358e+000 -8.0696358e+000  1.2517882e+002  7.9169929e+001 -7.9169929e+001
  1.2900000e+001 -8.2410813e+000  9.2286247e+000 -9.2286247e+000 -1.1150458e+001  8.0646834e+000 -8.0646834e+000  1.3230168e+002  7.4714240e+001 -7.4714240e+001
  1.3000000e+001 -2.5668123e+000  9.2584527e+000 -9.2584527e+000 -6.4216179e+000  8.0593700e+000 -8.0593700e+000  8.6391531e+001  7.0464613e+001 -7.0464613e+001
  1.3100000e+001  2.3992065e+000  9.2827076e+000 -9.2827076e+000 -2.4394890e+000  7.9385131e+000 -7.9385131e+000  5.0722485e+001  6.6420906e+001 -6.6420906e+001
  1.3200000e+001 -1.3374415e-001  9.2940466e+000 -9.2940466e+000 -4.4015716e+000  7.7570410e+000 -7.7570410e+000  6.4331245e+001  6.2589504e+001 -6.2589504e+001
  1.3300000e+001  2.6363281e+000  9.2904690e+000 -9.2904690e+000 -2.2961819e+000  7.5953738e+000 -7.5953738e+000  4.6155365e+001  5.8975773e+001 -5.8975773e+001
  1.3400000e+001  7.6811333e+000  9.2761652e+000 -9.2761652e+000  1.3489156e+000  7.4112240e+000 -7.4112240e+000  1.8025256e+001  5.5577897e+001 -5.5577897e+001
  1.3500000e+001  7.9720059e+000  9.2514769e+000 -9.2514769e+000  1.3786866e+000  7.2013561e+000 -7.2013561e+000  1.7221541e+001  5.2391976e+001 -5.2391976e+001
  1.3600000e+001  8.3554789e+000  9.2164186e+000 -9.2164186e+000  1.4694121e+000  6.9994357e+000 -6.9994357e+000  1.6033784e+001  4.9412701e+001 -4.9412701e+001
  1.3700000e+001  1.1263594e+001  9.1734058e+000 -9.1734058e+000  3.2685376e+000  6.8057535e+000 -6.8057535e+000  3.5466911e+000  4.6631732e+001 -4.6631732e+001
  1.3800000e+001  1.3741932e+001  9.1243934e+000 -9.1243934e+000  4.6759879e+000  6.6109562e+000 -6.6109562e+000 -5.6785478e+000  4.4038876e+001 -4.4038876e+001
  1.3900000e+001  1.1383895e+001  9.0702637e+000 -9.0702637e+000  2.8665189e+000  6.4195332e+000 -6.4195332e+000  5.8373133e+000  4.1623433e+001 -4.1623433e+001
  1.4000000e+001  1.6358559e+001  9.0120355e+000 -9.0120355e+000  5.8099231e+000  6.2480116e+000 -6.2480116e+000 -1.2335330e+001  3.9374373e+001 -3.9374373e+001
  1.4100000e+001  1.0556151e+001  8.9517298e+000 -8.9517298e+000  1.9005462e+000  6.0730246e+000 -6.0730246e+000  1.1236778e+001  3.7279954e+001 -3.7279954e+001
  1.4200000e+001  7.2820052e+000  8.8892837e+000 -8.8892837e+000 -2.7565191e-001  5.9257800e+000 -5.9257800e+000  2.3417348e+001  3.5329301e+001 -3.5329301e+001
  1.4300000e+001  7.2016465e+000  8.8269277e+000 -8.8269277e+000 -4.4055948e-001  5.7967874e+000 -5.7967874e+000  2.3572219e+001  3.3511093e+001 -3.3511093e+001
  1.4400000e+001  6.3422620e+000  8.7658159e+000 -8.7658159e+000 -1.0610648e+000  5.6752189e+000 -5.6752189e+000  2.6165300e+001  3.1814416e+001 -3.1814416e+001
  1.4500000e+001  8.2256675e+000  8.7061200e+000 -8.7061200e+000 -5.7393664e-002  5.5625001e+000 -5.5625001e+000  2.0040480e+001  3.0229302e+001 -3.0229302e+001
  1.4600000e+001  1.0352925e+001  8.6481023e+000 -8.6481023e+000  1.0465641e+000  5.4512686e+000 -5.4512686e+000  1.3766221e+001  2.8746605e+001 -2.8746605e+001
  1.4700000e+001  8.1157375e+000  8.5914501e+000 -8.5914501e+000 -3.7072928e-001  5.3416211e+000 -5.3416211e+000  2.0327643e+001  2.7358177e+001 -2.7358177e+001
  1.4800000e+001  4.5032855e+000  8.5359205e+000 -8.5359205e+000 -2.5073674e+000  5.2426365e+000 -5.2426365e+000  2.9922878e+001  2.6056713e+001 -2.6056713e+001
  1.4900000e+001  7.4377272e-002  8.4819941e+000 -8.4819941e+000 -5.0261338e+000  5.1559285e+000 -5.1559285e+000  4.0663312e+001  2.4835377e+001 -2.4835377e+001
  1.5000000e+001 -2.7635260e-002  8.4302087e+000 -8.4302087e+000 -5.0935055e+000  5.0818174e+000 -5.0818174e+000  3.9636331e+001  2.3687756e+001 -2.3687756e+001
  1.5100000e+001 -2.2117979e+000  8.3810579e+000 -8.3810579e+000 -6.2931805e+000  5.0104222e+000 -5.0104222e+000  4.3571541e+001  2.2607871e+001 -2.2607871e+001
  1.5200000e+001 -7.9765247e+000  8.3342385e+000 -8.3342385e+000 -9.3948284e+000  4.9452976e+000 -4.9452976e+000  5.5218540e+001  2.1590408e+001 -2.1590408e+001