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

  1.0000000e-001  1.9939984e+005  1.9937423e+005 -6.0031750e+003 -6.2395054e+003
  2.0000000e-001  1.9879937e+005  1.9876736e+005 -6.0063486e+003 -6.1790061e+003
  3.0000000e-001  1.9819857e+005  1.9819436e+005 -6.0095209e+003 -6.0242921e+003
  4.0000000e-001  1.9759746e+005  1.9759048e+005 -6.0126919e+003 -6.0313621e+003
  5.0000000e-001  1.9699603e+005  1.9702307e+005 -6.0158614e+003 -5.9419399e+003
  6.0000000e-001  1.9639429e+005  1.9639618e+005 -6.0190295e+003 -6.0176805e+003
  7.0000000e-001  1.9579223e+005  1.9578814e+005 -6.0221961e+003 -6.0328195e+003
  8.0000000e-001  1.9518985e+005  1.9519156e+005 -6.0253612e+003 -6.0240502e+003
  9.0000000e-001  1.9458716e+005  1.9460093e+005 -6.0285246e+003 -6.0085727e+003
  1.0000000e+000  1.9398414e+005  1.9399145e+005 -6.0316865e+003 -6.0237345e+003
  1.1000000e+000  1.9338082e+005  1.9338296e+005 -6.0348466e+003 -6.0346122e+003
  1.2000000e+000  1.9277718e+005  1.9278713e+005 -6.0380050e+003 -6.0284648e+003
  1.3000000e+000  1.9217322e+005  1.9218161e+005 -6.0411617e+003 -6.0344076e+003
  1.4000000e+000  1.9156894e+005  1.9158032e+005 -6.0443165e+003 -6.0351784e+003
  1.5000000e+000  1.9096435e+005  1.9098083e+005 -6.0474694e+003 -6.0342934e+003
  1.6000000e+000  1.9035945e+005  1.9037506e+005 -6.0506204e+003 -6.0394229e+003
  1.7000000e+000  1.8975423e+005  1.8977304e+005 -6.0537694e+003 -6.0407918e+003
  1.8000000e+000  1.8914870e+005  1.8916861e+005 -6.0569163e+003 -6.0440925e+003
  1.9000000e+000  1.8854285e+005  1.8855402e+005 -6.0600611e+003 -6.0549401e+003
  2.0000000e+000  1.8793668e+005  1.8794404e+005 -6.0632038e+003 -6.0612391e+003
  2.1000000e+000  1.8733021e+005  1.8733883e+005 -6.0663442e+003 -6.0636327e+003
  2.2000000e+000  1.8672341e+005  1.8672290e+005 -6.0694822e+003 -6.0730360e+003
  2.3000000e+000  1.8611631e+005  1.8611261e+005 -6.0726179e+003 -6.0779803e+003
  2.4000000e+000  1.8550889e+005  1.8549609e+005 -6.0757512e+003 -6.0863468e+003
  2.5000000e+000  1.8490116e+005  1.8488692e+005 -6.0788819e+003 -6.0897009e+003
  2.6000000e+000  1.8429311e+005  1.8427953e+005 -6.0820101e+003 -6.0918426e+003
  2.7000000e+000  1.8368476e+005  1.8367318e+005 -6.0851355e+003 -6.0933408e+003
  2.8000000e+000  1.8307609e+005  1.8306340e+005 -6.0882582e+003 -6.0966145e+003
  2.9000000e+000  1.8246711e+005  1.8244556e+005 -6.0913781e+003 -6.1038111e+003
  3.0000000e+000  1.8185781e+005  1.8184258e+005 -6.0944951e+003 -6.1032103e+003
  3.1000000e+000  1.8124821e+005  1.8123281e+005 -6.0976090e+003 -6.1059881e+003
  3.2000000e+000  1.8063829e+005  1.8062806e+005 -6.1007199e+003 -6.1063258e+003
  3.3000000e+000  1.8002806e+005  1.8001468e+005 -6.1038276e+003 -6.1105931e+003
  3.4000000e+000  1.7941753e+005  1.7940748e+005 -6.1069320e+003 -6.1119544e+003
  3.5000000e+000  1.7880668e+005  1.7879869e+005 -6.1100330e+003 -6.1139717e+003
  3.6000000e+000  1.7819552e+005  1.7818680e+005 -6.1131306e+003 -6.1172073e+003
  3.7000000e+000  1.7758405e+005  1.7758199e+005 -6.1162246e+003 -6.1174761e+003
  3.8000000e+000  1.7697227e+005  1.7697529e+005 -6.1193149e+003 -6.1185427e+003
  3.9000000e+000  1.7636019e+005  1.7636490e+005 -6.1224014e+003 -6.1210140e+003
  4.0000000e+000  1.7574779e+005  1.7575226e+005 -6.1254840e+003 -6.1242384e+003
  4.1000000e+000  1.7513509e+005  1.7514050e+005 -6.1285625e+003 -6.1270209e+003
  4.2000000e+000  1.7452208e+005  1.7452868e+005 -6.1316370e+003 -6.1297301e+003
  4.3000000e+000  1.7390876e+005  1.7391366e+005 -6.1347072e+003 -6.1334520e+003
  4.4000000e+000  1.7329514e+005  1.7329917e+005 -6.1377729e+003 -6.1368520e+003
  4.5000000e+000  1.7268121e+005  1.7268817e+005 -6.1408342e+003 -6.1389767e+003
  4.6000000e+000  1.7206697e+005  1.7207560e+005 -6.1438908e+003 -6.1415546e+003
  4.7000000e+000  1.7145243e+005  1.7146119e+005 -6.1469426e+003 -6.1446392e+003
  4.8000000e+000  1.7083758e+005  1.7084425e+005 -6.1499895e+003 -6.1484054e+003
  4.9000000e+000  1.7022243e+005  1.7022777e+005 -6.1530313e+003 -6.1518958e+003
  5.0000000e+000  1.6960698e+005  1.6961366e+005 -6.1560678e+003 -6.1545659e+003
  5.1000000e+000  1.6899122e+005  1.6899822e+005 -6.1590990e+003 -6.1575497e+003
  5.2000000e+000  1.6837516e+005  1.6838164e+005 -6.1621246e+003 -6.1607671e+003
  5.3000000e+000  1.6775880e+005  1.6776628e+005 -6.1651445e+003 -6.1635428e+003
  5.4000000e+000  1.6714213e+005  1.6714607e+005 -6.1681585e+003 -6.1675764e+003
  5.5000000e+000  1.6652516e+005  1.6653099e+005 -6.1711664e+003 -6.1700905e+003
  5.6000000e+000  1.6590790e+005  1.6591332e+005 -6.1741681e+003 -6.1732271e+003
  5.7000000e+000  1.6529033e+005  1.6529481e+005 -6.1771634e+003 -6.1764906e+003
  5.8000000e+000  1.6467247e+005  1.6467772e+005 -6.1801520e+003 -6.1792986e+003
  5.9000000e+000  1.6405430e+005  1.6406034e+005 -6.1831338e+003 -6.1821048e+003
  6.0000000e+000  1.6343584e+005  1.6344321e+005 -6.1861086e+003 -6.1847736e+003
  6.1000000e+000  1.6281708e+005  1.6282558e+005 -6.1890762e+003 -6.1874986e+003
  6.2000000e+000  1.6219802e+005  1.6220805e+005 -6.1920363e+003 -6.1901317e+003
  6.3000000e+000  1.6157867e+005  1.6158789e+005 -6.1949887e+003 -6.1933211e+003
  6.4000000e+000  1.6095903e+005  1.6096678e+005 -6.1979332e+003 -6.1966433e+003
  6.5000000e+000  1.6033909e+005  1.6034562e+005 -6.2008696e+003 -6.1998873e+003
  6.6000000e+000  1.5971885e+005  1.5972471e+005 -6.2037976e+003 -6.2029886e+003
  6.7000000e+000  1.5909833e+005  1.5910571e+005 -6.2067170e+003 -6.2055879e+003
  6.8000000e+000  1.5847751e+005  1.5848239e+005 -6.2096274e+003 -6.2090707e+003
  6.9000000e+000  1.5785640e+005  1.5786052e+005 -6.2125287e+003 -6.2121478e+003
  7.0000000e+000  1.5723500e+005  1.5723931e+005 -6.2154206e+003 -6.2150080e+003
  7.1000000e+000  1.5661332e+005  1.5661855e+005 -6.2183028e+003 -6.2177049e+003
  7.2000000e+000  1.5599134e+005  1.5599504e+005 -6.2211749e+003 -6.2209065e+003
  7.3000000e+000  1.5536908e+005  1.5537247e+005 -6.2240368e+003 -6.2238366e+003
  7.4000000e+000  1.5474654e+005  1.5474993e+005 -6.2268880e+003 -6.2266901e+003
  7.5000000e+000  1.5412371e+005  1.5412702e+005 -6.2297283e+003 -6.2295494e+003
  7.6000000e+000  1.5350059e+005  1.5350422e+005 -6.2325574e+003 -6.2323193e+003
  7.7000000e+000  1.5287719e+005  1.5288054e+005 -6.2353748e+003 -6.2351975e+003
  7.8000000e+000  1.5225352e+005  1.5225584e+005 -6.2381803e+003 -6.2381993e+003
  7.9000000e+000  1.5162956e+005  1.5163130e+005 -6.2409735e+003 -6.2411031e+003
  8.0000000e+000  1.5100532e+005  1.5100698e+005 -6.2437540e+003 -6.2438955e+003
  8.1000000e+000  1.5038081e+005  1.5038401e+005 -6.2465215e+003 -6.2463775e+003
  8.2000000e+000  1.4975602e+005  1.4975957e+005 -6.2492755e+003 -6.2490700e+003
  8.3000000e+000  1.4913095e+005  1.4913444e+005 -6.2520157e+003 -6.2518259e+003
  8.4000000e+000  1.4850562e+005  1.4850930e+005 -6.2547416e+003 -6.2545206e+003
  8.5000000e+000  1.4788001e+005  1.4788408e+005 -6.2574528e+003 -6.2571674e+003
  8.6000000e+000  1.4725413e+005  1.4726005e+005 -6.2601489e+003 -6.2595488e+003
  8.7000000e+000  1.4662798e+005  1.4663398e+005 -6.2628294e+003 -6.2622256e+003
  8.8000000e+000  1.4600156e+005  1.4600903e+005 -6.2654938e+003 -6.2646548e+003
  8.9000000e+000  1.4537488e+005  1.4538244e+005 -6.2681417e+003 -6.2673004e+003
  9.0000000e+000  1.4474793e+005  1.4475612e+005 -6.2707726e+003 -6.2698433e+003
  9.1000000e+000  1.4412072e+005  1.4412927e+005 -6.2733860e+003 -6.2724137e+003
  9.2000000e+000  1.4349326e+005  1.4350341e+005 -6.2759812e+003 -6.2747659e+003
  9.3000000e+000  1.4286553e+005  1.4287439e+005 -6.2785579e+003 -6.2775676e+003
  9.4000000e+000  1.4223755e+005  1.4224519e+005 -6.2811154e+003 -6.2803333e+003
  9.5000000e+000  1.4160931e+005  1.4161709e+005 -6.2836532e+003 -6.2828609e+003
  9.6000000e+000  1.4098082e+005  1.4098928e+005 -6.2861706e+003 -6.2852859e+003
  9.7000000e+000  1.4035207e+005  1.4036044e+005 -6.2886671e+003 -6.2878117e+003
  9.8000000e+000  1.3972308e+005  1.3973100e+005 -6.2911420e+003 -6.2903682e+003
  9.9000000e+000  1.3909385e+005  1.3910298e+005 -6.2935947e+003 -6.2926499e+003
  1.0000000e+001  1.3846436e+005  1.3847263e+005 -6.2960245e+003 -6.2952229e+003
  1.0100000e+001  1.3783464e+005  1.3784345e+005 -6.2984308e+003 -6.2975627e+003
  1.0200000e+001  1.3720468e+005  1.3721507e+005 -6.3008128e+003 -6.2997280e+003
  1.0300000e+001  1.3657448e+005  1.3658496e+005 -6.3031697e+003 -6.3020891e+003
  1.0400000e+001  1.3594405e+005  1.3595343e+005 -6.3055010e+003 -6.3045919e+003
  1.0500000e+001  1.3531338e+005  1.3532475e+005 -6.3078057e+003 -6.3066299e+003
  1.0600000e+001  1.3468249e+005  1.3469278e+005 -6.3100832e+003 -6.3090744e+003
  1.0700000e+001  1.3405136e+005  1.3406164e+005 -6.3123325e+003 -6.3113416e+003
  1.0800000e+001  1.3342002e+005  1.3343076e+005 -6.3145528e+003 -6.3135130e+003
  1.0900000e+001  1.3278846e+005  1.3280000e+005 -6.3167433e+003 -6.3156086e+003
  1.1000000e+001  1.3215667e+005  1.3216786e+005 -6.3189031e+003 -6.3178323e+003
  1.1100000e+001  1.3152468e+005  1.3153614e+005 -6.3210313e+003 -6.3199390e+003
  1.1200000e+001  1.3089247e+005  1.3090210e+005 -6.3231268e+003 -6.3222910e+003
  1.1300000e+001  1.3026005e+005  1.3026948e+005 -6.3251889e+003 -6.3243909e+003
  1.1400000e+001  1.2962743e+005  1.2963597e+005 -6.3272164e+003 -6.3265451e+003
  1.1500000e+001  1.2899461e+005  1.2900149e+005 -6.3292083e+003 -6.3287581e+003
  1.1600000e+001  1.2836159e+005  1.2836921e+005 -6.3311636e+003 -6.3306263e+003
  1.1700000e+001  1.2772838e+005  1.2773701e+005 -6.3330811e+003 -6.3324241e+003
  1.1800000e+001  1.2709498e+005  1.2710358e+005 -6.3349599e+003 -6.3343152e+003
  1.1900000e+001  1.2646139e+005  1.2646888e+005 -6.3367986e+003 -6.3363006e+003
  1.2000000e+001  1.2582762e+005  1.2583687e+005 -6.3385961e+003 -6.3378897e+003
  1.2100000e+001  1.2519367e+005  1.2520237e+005 -6.3403513e+003 -6.3397214e+003
  1.2200000e+001  1.2455955e+005  1.2456876e+005 -6.3420628e+003 -6.3413801e+003
  1.2300000e+001  1.2392526e+005  1.2393413e+005 -6.3437293e+003 -6.3430955e+003
  1.2400000e+001  1.2329080e+005  1.2330049e+005 -6.3453496e+003 -6.3446285e+003
  1.2500000e+001  1.2265619e+005  1.2266590e+005 -6.3469222e+003 -6.3462087e+003
  1.2600000e+001  1.2202142e+005  1.2203053e+005 -6.3484458e+003 -6.3478112e+003
  1.2700000e+001  1.2138650e+005  1.2139545e+005 -6.3499189e+003 -6.3493112e+003
  1.2800000e+001  1.2075144e+005  1.2076009e+005 -6.3513400e+003 -6.3507739e+003
  1.2900000e+001  1.2011624e+005  1.2012575e+005 -6.3527076e+003 -6.3520520e+003
  1.3000000e+001  1.1948090e+005  1.1949072e+005 -6.3540202e+003 -6.3533389e+003
  1.3100000e+001  1.1884543e+005  1.1885530e+005 -6.3552760e+003 -6.3545986e+003
  1.3200000e+001  1.1820985e+005  1.1821905e+005 -6.3564735e+003 -6.3558787e+003
  1.3300000e+001  1.1757414e+005  1.1758251e+005 -6.3576110e+003 -6.3571150e+003
  1.3400000e+001  1.1693833e+005  1.1694697e+005 -6.3586866e+003 -6.3581672e+003
  1.3500000e+001  1.1630241e+005  1.1631191e+005 -6.3596986e+003 -6.3590943e+003
  1.3600000e+001  1.1566639e+005  1.1567510e+005 -6.3606452e+003 -6.3601331e+003
  1.3700000e+001  1.1503028e+005  1.1503789e+005 -6.3615244e+003 -6.3611353e+003
  1.3800000e+001  1.1439409e+005  1.1440273e+005 -6.3623343e+003 -6.3618427e+003
  1.3900000e+001  1.1375782e+005  1.1376634e+005 -6.3630729e+003 -6.3626008e+003
  1.4000000e+001  1.1312147e+005  1.1312925e+005 -6.3637381e+003 -6.3633491e+003
  1.4100000e+001  1.1248507e+005  1.1249181e+005 -6.3643278e+003 -6.3640498e+003
  1.4200000e+001  1.1184861e+005  1.1185604e+005 -6.3648399e+003 -6.3644967e+003
  1.4300000e+001  1.1121210e+005  1.1122040e+005 -6.3652720e+003 -6.3648472e+003
  1.4400000e+001  1.1057556e+005  1.1058487e+005 -6.3656219e+003 -6.3651027e+003
  1.4500000e+001  1.0993898e+005  1.0994851e+005 -6.3658873e+003 -6.3653534e+003
  1.4600000e+001  1.0930238e+005  1.0931177e+005 -6.3660658e+003 -6.3655535e+003
  1.4700000e+001  1.0866577e+005  1.0867637e+005 -6.3661548e+003 -6.3655327e+003
  1.4800000e+001  1.0802916e+005  1.0804036e+005 -6.3661518e+003 -6.3654799e+003
  1.4900000e+001  1.0739255e+005  1.0740239e+005 -6.3660543e+003 -6.3655210e+003
  1.5000000e+001  1.0675595e+005  1.0676558e+005 -6.3658595e+003 -6.3653537e+003
  1.5100000e+001  1.0611938e+005  1.0613039e+005 -6.3655647e+003 -6.3649373e+003