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

  1.5300000e+001 -1.4185623e+001  8.2897739e+000 -8.2897739e+000 -1.2660223e+001  4.8921605e+000 -4.8921605e+000  6.6682437e+001  2.0630536e+001 -2.0630536e+001
  1.5400000e+001 -1.2777811e+001  8.2481266e+000 -8.2481266e+000 -1.1782561e+001  4.8505655e+000 -4.8505655e+000  6.1010841e+001  1.9723728e+001 -1.9723728e+001
  1.5500000e+001 -1.8508706e+001  8.2096726e+000 -8.2096726e+000 -1.4718961e+001  4.8052931e+000 -4.8052931e+000  7.0134459e+001  1.8865773e+001 -1.8865773e+001
  1.5600000e+001 -1.7447268e+001  8.1736055e+000 -8.1736055e+000 -1.3993406e+001  4.7688723e+000 -4.7688723e+000  6.5164447e+001  1.8053070e+001 -1.8053070e+001
  1.5700000e+001 -1.5011814e+001  8.1401896e+000 -8.1401896e+000 -1.2552611e+001  4.7288969e+000 -4.7288969e+000  5.7968168e+001  1.7282267e+001 -1.7282267e+001
  1.5800000e+001 -1.6062487e+001  8.1087289e+000 -8.1087289e+000 -1.2970555e+001  4.6840046e+000 -4.6840046e+000  5.7552497e+001  1.6550477e+001 -1.6550477e+001
  1.5900000e+001 -1.5440855e+001  8.0785318e+000 -8.0785318e+000 -1.2504742e+001  4.6398105e+000 -4.6398105e+000  5.4202332e+001  1.5855209e+001 -1.5855209e+001
  1.6000000e+001 -1.8001077e+001  8.0494332e+000 -8.0494332e+000 -1.3697803e+001  4.5941217e+000 -4.5941217e+000  5.6324798e+001  1.5194193e+001 -1.5194193e+001
  1.6100000e+001 -1.9098439e+001  8.0211296e+000 -8.0211296e+000 -1.4108272e+001  4.5510042e+000 -4.5510042e+000  5.5844641e+001  1.4565389e+001 -1.4565389e+001
  1.6200000e+001 -1.4477178e+001  7.9936704e+000 -7.9936704e+000 -1.1579221e+001  4.5084427e+000 -4.5084427e+000  4.6558590e+001  1.3966890e+001 -1.3966890e+001
  1.6300000e+001 -6.3793087e+000  7.9669485e+000 -7.9669485e+000 -7.3451110e+000  4.4604627e+000 -4.4604627e+000  3.2874873e+001  1.3396936e+001 -1.3396936e+001
  1.6400000e+001 -7.7758857e+000  7.9404214e+000 -7.9404214e+000 -8.0127982e+000  4.4052361e+000 -4.4052361e+000  3.3788789e+001  1.2853988e+001 -1.2853988e+001
  1.6500000e+001 -5.2076054e+000  7.9134829e+000 -7.9134829e+000 -6.6831223e+000  4.3522367e+000 -4.3522367e+000  2.9156341e+001  1.2336701e+001 -1.2336701e+001
  1.6600000e+001 -7.5656493e+000  7.8863268e+000 -7.8863268e+000 -7.8301737e+000  4.2982275e+000 -4.2982275e+000  3.1358987e+001  1.1843768e+001 -1.1843768e+001
  1.6700000e+001 -1.1449760e+001  7.8588747e+000 -7.8588747e+000 -9.6957595e+000  4.2471833e+000 -4.2471833e+000  3.5270545e+001  1.1373964e+001 -1.1373964e+001
  1.6800000e+001 -8.8184388e+000  7.8313599e+000 -7.8313599e+000 -8.3415577e+000  4.1999442e+000 -4.1999442e+000  3.0838486e+001  1.0926090e+001 -1.0926090e+001
  1.6900000e+001 -1.1185151e+001  7.8040490e+000 -7.8040490e+000 -9.4375013e+000  4.1517009e+000 -4.1517009e+000  3.2623194e+001  1.0498980e+001 -1.0498980e+001
  1.7000000e+001 -1.1357963e+001  7.7768075e+000 -7.7768075e+000 -9.4549776e+000  4.1059381e+000 -4.1059381e+000  3.1721628e+001  1.0091551e+001 -1.0091551e+001
  1.7100000e+001 -9.7304816e+000  7.7497851e+000 -7.7497851e+000 -8.6166544e+000  4.0611023e+000 -4.0611023e+000  2.8873369e+001  9.7027642e+000 -9.7027642e+000
  1.7200000e+001 -1.3354918e+001  7.7229938e+000 -7.7229938e+000 -1.0279100e+001  4.0161650e+000 -4.0161650e+000  3.1779357e+001  9.3316399e+000 -9.3316399e+000
  1.7300000e+001 -1.1816049e+001  7.6963668e+000 -7.6963668e+000 -9.4823534e+000  3.9741153e+000 -3.9741153e+000  2.9130802e+001  8.9772641e+000 -8.9772641e+000
  1.7400000e+001 -1.4471444e+001  7.6700748e+000 -7.6700748e+000 -1.0656720e+001  3.9319848e+000 -3.9319848e+000  3.0795792e+001  8.6387550e+000 -8.6387550e+000
  1.7500000e+001 -1.7807460e+001  7.6440411e+000 -7.6440411e+000 -1.2118237e+001  3.8919551e+000 -3.8919551e+000  3.2939516e+001  8.3152919e+000 -8.3152919e+000
  1.7600000e+001 -1.2426426e+001  7.6183663e+000 -7.6183663e+000 -9.5462427e+000  3.8541580e+000 -3.8541580e+000  2.6840043e+001  8.0060909e+000 -8.0060909e+000
  1.7700000e+001 -1.8968490e+001  7.5931499e+000 -7.5931499e+000 -1.2468372e+001  3.8144610e+000 -3.8144610e+000  3.1796993e+001  7.7104039e+000 -7.7104039e+000
  1.7800000e+001 -2.1493178e+001  7.5681634e+000 -7.5681634e+000 -1.3505793e+001  3.7782806e+000 -3.7782806e+000  3.2874738e+001  7.4275505e+000 -7.4275505e+000
  1.7900000e+001 -2.3178908e+001  7.5436232e+000 -7.5436232e+000 -1.4143076e+001  3.7435899e+000 -3.7435899e+000  3.3130890e+001  7.1568679e+000 -7.1568679e+000
  1.8000000e+001 -2.0658814e+001  7.5195648e+000 -7.5195648e+000 -1.2885112e+001  3.7099114e+000 -3.7099114e+000  2.9942107e+001  6.8977294e+000 -6.8977294e+000
  1.8100000e+001 -1.9419053e+001  7.4959839e+000 -7.4959839e+000 -1.2223821e+001  3.6755841e+000 -3.6755841e+000  2.7953889e+001  6.6495455e+000 -6.6495455e+000
  1.8200000e+001 -1.5755996e+001  7.4727501e+000 -7.4727501e+000 -1.0506920e+001  3.6412228e+000 -3.6412228e+000  2.4256622e+001  6.4117725e+000 -6.4117725e+000
  1.8300000e+001 -1.2520925e+001  7.4497975e+000 -7.4497975e+000 -9.0169757e+000  3.6061093e+000 -3.6061093e+000  2.1117917e+001  6.1839026e+000 -6.1839026e+000
  1.8400000e+001 -1.0282277e+001  7.4270133e+000 -7.4270133e+000 -7.9960734e+000  3.5705765e+000 -3.5705765e+000  1.8889343e+001  5.9654648e+000 -5.9654648e+000
  1.8500000e+001 -1.1419314e+001  7.4043243e+000 -7.4043243e+000 -8.4602457e+000  3.5350644e+000 -3.5350644e+000  1.9106401e+001  5.7560186e+000 -5.7560186e+000
  1.8600000e+001 -1.5230468e+001  7.3817007e+000 -7.3817007e+000 -1.0063734e+001  3.5005816e+000 -3.5005816e+000  2.1052333e+001  5.5551481e+000 -5.5551481e+000
  1.8700000e+001 -1.7770374e+001  7.3591940e+000 -7.3591940e+000 -1.1089242e+001  3.4677728e+000 -3.4677728e+000  2.2019323e+001  5.3624551e+000 -5.3624551e+000
  1.8800000e+001 -1.6217207e+001  7.3369004e+000 -7.3369004e+000 -1.0355818e+001  3.4361608e+000 -3.4361608e+000  2.0354651e+001  5.1775552e+000 -5.1775552e+000
  1.8900000e+001 -1.1135930e+001  7.3148683e+000 -7.3148683e+000 -8.1505779e+000  3.4046423e+000 -3.4046423e+000  1.6668064e+001  5.0000813e+000 -5.0000813e+000
  1.9000000e+001 -1.1456267e+001  7.2930556e+000 -7.2930556e+000 -8.2571533e+000  3.3724569e+000 -3.3724569e+000  1.6368702e+001  4.8296884e+000 -4.8296884e+000
  1.9100000e+001 -9.7059318e+000  7.2713670e+000 -7.2713670e+000 -7.4998670e+000  3.3409338e+000 -3.3409338e+000  1.4904758e+001  4.6660551e+000 -4.6660551e+000
  1.9200000e+001 -5.8529967e+000  7.2498214e+000 -7.2498214e+000 -5.8900384e+000  3.3096158e+000 -3.3096158e+000  1.2378167e+001  4.5088753e+000 -4.5088753e+000
  1.9300000e+001 -6.8553750e+000  7.2284005e+000 -7.2284005e+000 -6.3105125e+000  3.2781262e+000 -3.2781262e+000  1.2588273e+001  4.3578590e+000 -4.3578590e+000
  1.9400000e+001 -8.0879524e+000  7.2070593e+000 -7.2070593e+000 -6.8160298e+000  3.2474487e+000 -3.2474487e+000  1.2888415e+001  4.2127333e+000 -4.2127333e+000
  1.9500000e+001 -9.8311225e+000  7.1858346e+000 -7.1858346e+000 -7.5179010e+000  3.2175723e+000 -3.2175723e+000  1.3408530e+001  4.0732366e+000 -4.0732366e+000
  1.9600000e+001 -9.1846868e+000  7.1647584e+000 -7.1647584e+000 -7.2420569e+000  3.1885283e+000 -3.1885283e+000  1.2722909e+001  3.9391187e+000 -3.9391187e+000
  1.9700000e+001 -8.2650219e+000  7.1438623e+000 -7.1438623e+000 -6.8626456e+000  3.1598606e+000 -3.1598606e+000  1.1942488e+001  3.8101402e+000 -3.8101402e+000
  1.9800000e+001 -7.8239938e+000  7.1231392e+000 -7.1231392e+000 -6.6817112e+000  3.1315173e+000 -3.1315173e+000  1.1420567e+001  3.6860738e+000 -3.6860738e+000
  1.9900000e+001 -7.4719226e+000  7.1025789e+000 -7.1025789e+000 -6.5397248e+000  3.1035647e+000 -3.1035647e+000  1.0961350e+001  3.5667044e+000 -3.5667044e+000
  2.0000000e+001 -7.9271779e+000  7.0821785e+000 -7.0821785e+000 -6.7179990e+000  3.0759999e+000 -3.0759999e+000  1.0868181e+001  3.4518270e+000 -3.4518270e+000
  2.0100000e+001 -1.1289895e+001  7.0619351e+000 -7.0619351e+000 -8.0284789e+000  3.0489146e+000 -3.0489146e+000  1.1981925e+001  3.3412471e+000 -3.3412471e+000
  2.0200000e+001 -1.1389144e+001  7.0418539e+000 -7.0418539e+000 -8.0444080e+000  3.0226557e+000 -3.0226557e+000  1.1688884e+001  3.2347793e+000 -3.2347793e+000
  2.0300000e+001 -1.2533771e+001  7.0219672e+000 -7.0219672e+000 -8.4632860e+000  2.9967327e+000 -2.9967327e+000  1.1814589e+001  3.1322460e+000 -3.1322460e+000
  2.0400000e+001 -1.6429377e+001  7.0022656e+000 -7.0022656e+000 -9.9293388e+000  2.9712481e+000 -2.9712481e+000  1.2971261e+001  3.0334783e+000 -3.0334783e+000
  2.0500000e+001 -1.5422649e+001  6.9827496e+000 -6.9827496e+000 -9.4944404e+000  2.9464809e+000 -2.9464809e+000  1.2220606e+001  2.9383159e+000 -2.9383159e+000
  2.0600000e+001 -1.6538698e+001  6.9634416e+000 -6.9634416e+000 -9.8730057e+000  2.9218088e+000 -2.9218088e+000  1.2272605e+001  2.8466051e+000 -2.8466051e+000
  2.0700000e+001 -1.6761958e+001  6.9443136e+000 -6.9443136e+000 -9.9063766e+000  2.8974547e+000 -2.8974547e+000  1.1996719e+001  2.7582007e+000 -2.7582007e+000
  2.0800000e+001 -1.4782631e+001  6.9253582e+000 -6.9253582e+000 -9.1118123e+000  2.8732953e+000 -2.8732953e+000  1.0976759e+001  2.6729644e+000 -2.6729644e+000
  2.0900000e+001 -9.6818316e+000  6.9065595e+000 -6.9065595e+000 -7.1678381e+000  2.8490984e+000 -2.8490984e+000  8.9774901e+000  2.5907652e+000 -2.5907652e+000
  2.1000000e+001 -5.1131040e+000  6.8878856e+000 -6.8878856e+000 -5.4595414e+000  2.8245892e+000 -2.8245892e+000  7.2681646e+000  2.5114790e+000 -2.5114790e+000
  2.1100000e+001 -4.5948679e+000  6.8692862e+000 -6.8692862e+000 -5.2780207e+000  2.7998663e+000 -2.7998663e+000  6.9290625e+000  2.4349888e+000 -2.4349888e+000
  2.1200000e+001 -3.6076582e+000  6.8507244e+000 -6.8507244e+000 -4.9279943e+000  2.7753043e+000 -2.7753043e+000  6.4618357e+000  2.3611839e+000 -2.3611839e+000
  2.1300000e+001 -3.0483654e+000  6.8321964e+000 -6.8321964e+000 -4.7403603e+000  2.7508546e+000 -2.7508546e+000  6.1446365e+000  2.2899585e+000 -2.2899585e+000
  2.1400000e+001 -6.4811065e-001  6.8136954e+000 -6.8136954e+000 -3.8903368e+000  2.7265432e+000 -2.7265432e+000  5.3102692e+000  2.2212116e+000 -2.2212116e+000
  2.1500000e+001 -1.3954937e+000  6.7952173e+000 -6.7952173e+000 -4.1884015e+000  2.7022258e+000 -2.7022258e+000  5.4061965e+000  2.1548466e+000 -2.1548466e+000
  2.1600000e+001 -2.0789706e+000  6.7767471e+000 -6.7767471e+000 -4.4570019e+000  2.6781272e+000 -2.6781272e+000  5.4738290e+000  2.0907712e+000 -2.0907712e+000
  2.1700000e+001 -1.0415652e+000  6.7582892e+000 -6.7582892e+000 -4.1089512e+000  2.6542199e+000 -2.6542199e+000  5.0745597e+000  2.0288972e+000 -2.0288972e+000
  2.1800000e+001 -2.7398445e+000  6.7398454e+000 -6.7398454e+000 -4.7318624e+000  2.6303729e+000 -2.6303729e+000  5.4035567e+000  1.9691398e+000 -1.9691398e+000
  2.1900000e+001 -2.8306681e-002  6.7214071e+000 -6.7214071e+000 -3.7966668e+000  2.6067463e+000 -2.6067463e+000  4.5956130e+000  1.9114182e+000 -1.9114182e+000
  2.2000000e+001  1.5046246e+000  6.7029794e+000 -6.7029794e+000 -3.2903621e+000  2.5830554e+000 -2.5830554e+000  4.1214694e+000  1.8556548e+000 -1.8556548e+000
  2.2100000e+001  1.5256660e+000  6.6845442e+000 -6.6845442e+000 -3.3167008e+000  2.5593734e+000 -2.5593734e+000  4.0336461e+000  1.8017753e+000 -1.8017753e+000
  2.2200000e+001  3.4012025e+000  6.6660912e+000 -6.6660912e+000 -2.7050534e+000  2.5357784e+000 -2.5357784e+000  3.5150244e+000  1.7497092e+000 -1.7497092e+000
  2.2300000e+001  7.1399065e-001  6.6476172e+000 -6.6476172e+000 -3.6621148e+000  2.5121634e+000 -2.5121634e+000  4.0603361e+000  1.6993885e+000 -1.6993885e+000
  2.2400000e+001 -2.3203751e+000  6.6291109e+000 -6.6291109e+000 -4.7159936e+000  2.4887500e+000 -2.4887500e+000  4.6472156e+000  1.6507484e+000 -1.6507484e+000
  2.2500000e+001 -3.0267243e+000  6.6105798e+000 -6.6105798e+000 -4.9633677e+000  2.4655251e+000 -2.4655251e+000  4.6938101e+000  1.6037266e+000 -1.6037266e+000
  2.2600000e+001 -8.5495239e-001  6.5920295e+000 -6.5920295e+000 -4.2424858e+000  2.4423555e+000 -2.4423555e+000  4.1283684e+000  1.5582629e+000 -1.5582629e+000
  2.2700000e+001 -2.3467859e+000  6.5734546e+000 -6.5734546e+000 -4.7521699e+000  2.4191046e+000 -2.4191046e+000  4.3435659e+000  1.5143000e+000 -1.5143000e+000
  2.2800000e+001  1.7479496e+000  6.5548393e+000 -6.5548393e+000 -3.4083121e+000  2.3959251e+000 -2.3959251e+000  3.4254004e+000  1.4717829e+000 -1.4717829e+000