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  2.5614280e+001  1.8857451e+001 -1.8857451e+001  2.3633047e+002  1.3130446e+002 -1.3130446e+002
  2.0000000e-001  3.2004466e+001  1.8173684e+001 -1.8173684e+001  1.7265750e+002  1.1042845e+002 -1.1042845e+002
  3.0000000e-001  4.2074057e+000  1.8147261e+001 -1.8147261e+001  1.4771191e+001  8.7702512e+001 -8.7702512e+001
  4.0000000e-001  6.9777825e+000  1.7761505e+001 -1.7761505e+001  1.8670202e+001  6.9003420e+001 -6.9003420e+001
  5.0000000e-001 -2.7034560e+001  1.7133440e+001 -1.7133440e+001 -7.3921478e+001  5.5045248e+001 -5.5045248e+001
  6.0000000e-001 -1.8958183e+000  1.6431746e+001 -1.6431746e+001 -1.3490402e+000  4.4808314e+001 -4.4808314e+001
  7.0000000e-001  4.0910811e+000  1.5741216e+001 -1.5741216e+001  1.0623404e+001  3.7213523e+001 -3.7213523e+001
  8.0000000e-001 -1.7117946e+000  1.5094807e+001 -1.5094807e+001 -1.3109593e+000  3.1463319e+001 -3.1463319e+001
  9.0000000e-001 -1.3777679e+001  1.4501820e+001 -1.4501820e+001 -1.9951890e+001  2.7014725e+001 -2.7014725e+001
  1.0000000e+000 -7.3026898e+000  1.3961803e+001 -1.3961803e+001 -7.9519928e+000  2.3502656e+001 -2.3502656e+001
  1.1000000e+000 -2.1424920e+000  1.3470683e+001 -1.3470683e+001 -2.3441547e-001  2.0678981e+001 -2.0678981e+001
  1.2000000e+000 -9.9574061e+000  1.3023362e+001 -1.3023362e+001 -9.5402773e+000  1.8371887e+001 -1.8371887e+001
  1.3000000e+000 -8.3925714e+000  1.2614781e+001 -1.2614781e+001 -6.7540419e+000  1.6459922e+001 -1.6459922e+001
  1.4000000e+000 -1.1378564e+001  1.2240315e+001 -1.2240315e+001 -9.1381051e+000  1.4855467e+001 -1.4855467e+001
  1.5000000e+000 -1.6474630e+001  1.1895884e+001 -1.1895884e+001 -1.3175971e+001  1.3494084e+001 -1.3494084e+001
  1.6000000e+000 -1.5609804e+001  1.1577950e+001 -1.1577950e+001 -1.1197483e+001  1.2327545e+001 -1.2327545e+001
  1.7000000e+000 -1.8809092e+001  1.1283464e+001 -1.1283464e+001 -1.2977561e+001  1.1319161e+001 -1.1319161e+001
  1.8000000e+000 -1.9915871e+001  1.1009805e+001 -1.1009805e+001 -1.2823874e+001  1.0440612e+001 -1.0440612e+001
  1.9000000e+000 -1.1168850e+001  1.0754717e+001 -1.0754717e+001 -5.1210553e+000  9.6697425e+000 -9.6697425e+000
  2.0000000e+000 -7.3602603e+000  1.0516252e+001 -1.0516252e+001 -1.9646605e+000  8.9890073e+000 -8.9890073e+000
  2.1000000e+000 -8.6268841e+000  1.0292726e+001 -1.0292726e+001 -2.7114138e+000  8.3843586e+000 -8.3843586e+000
  2.2000000e+000  5.1113140e-001  1.0082676e+001 -1.0082676e+001  3.5537189e+000  7.8444330e+000 -7.8444330e+000
  2.3000000e+000  3.7045053e+000  9.8848254e+000 -9.8848254e+000  5.3623375e+000  7.3599522e+000 -7.3599522e+000
  2.4000000e+000  1.2798026e+001  9.6980561e+000 -9.6980561e+000  1.0595569e+001  6.9232766e+000 -6.9232766e+000
  2.5000000e+000  1.4239891e+001  9.5213856e+000 -9.5213856e+000  1.0818998e+001  6.5280647e+000 -6.5280647e+000
  2.6000000e+000  1.3579870e+001  9.3539469e+000 -9.3539469e+000  9.8325674e+000  6.1690155e+000 -6.1690155e+000
  2.7000000e+000  1.1579582e+001  9.1949716e+000 -9.1949716e+000  8.2052718e+000  5.8416665e+000 -5.8416665e+000
  2.8000000e+000  1.2689325e+001  9.0437771e+000 -9.0437771e+000  8.3562590e+000  5.5422379e+000 -5.5422379e+000
  2.9000000e+000  2.1550610e+001  8.8997541e+000 -8.8997541e+000  1.2432943e+001  5.2675092e+000 -5.2675092e+000
  3.0000000e+000  1.5231612e+001  8.7623573e+000 -8.7623573e+000  8.7152598e+000  5.0147215e+000 -5.0147215e+000
  3.1000000e+000  1.5398997e+001  8.6310974e+000 -8.6310974e+000  8.3791037e+000  4.7814998e+000 -4.7814998e+000
  3.2000000e+000  1.0226265e+001  8.5055334e+000 -8.5055334e+000  5.6059103e+000  4.5657891e+000 -4.5657891e+000
  3.3000000e+000  1.3380704e+001  8.3852672e+000 -8.3852672e+000  6.7655522e+000  4.3658034e+000 -4.3658034e+000
  3.4000000e+000  1.0047416e+001  8.2699383e+000 -8.2699383e+000  5.0224471e+000  4.1799840e+000 -4.1799840e+000
  3.5000000e+000  7.9848986e+000  8.1592193e+000 -8.1592193e+000  3.9386696e+000  4.0069655e+000 -4.0069655e+000
  3.6000000e+000  8.7170156e+000  8.0528123e+000 -8.0528123e+000  4.0767529e+000  3.8455466e+000 -3.8455466e+000
  3.7000000e+000  2.0582217e+000  7.9504455e+000 -7.9504455e+000  1.2515388e+000  3.6946673e+000 -3.6946673e+000
  3.8000000e+000 -3.0132610e+000  7.8518701e+000 -7.8518701e+000 -7.7216752e-001  3.5533890e+000 -3.5533890e+000
  3.9000000e+000 -4.7104332e+000  7.7568585e+000 -7.7568585e+000 -1.3873556e+000  3.4208776e+000 -3.4208776e+000
  4.0000000e+000 -4.4647523e+000  7.6652014e+000 -7.6652014e+000 -1.2455588e+000  3.2963898e+000 -3.2963898e+000
  4.1000000e+000 -5.4080511e+000  7.5767063e+000 -7.5767063e+000 -1.5416856e+000  3.1792614e+000 -3.1792614e+000
  4.2000000e+000 -6.5966020e+000  7.4911959e+000 -7.4911959e+000 -1.9068504e+000  3.0688974e+000 -3.0688974e+000
  4.3000000e+000 -4.8944143e+000  7.4085062e+000 -7.4085062e+000 -1.2551083e+000  2.9647629e+000 -2.9647629e+000
  4.4000000e+000 -4.0262736e+000  7.3284856e+000 -7.3284856e+000 -9.2088729e-001  2.8663764e+000 -2.8663764e+000
  4.5000000e+000 -6.9610175e+000  7.2509937e+000 -7.2509937e+000 -1.8575053e+000  2.7733031e+000 -2.7733031e+000
  4.6000000e+000 -8.6312304e+000  7.1759001e+000 -7.1759001e+000 -2.3361932e+000  2.6851495e+000 -2.6851495e+000
  4.7000000e+000 -8.7601622e+000  7.1030835e+000 -7.1030835e+000 -2.3034351e+000  2.6015590e+000 -2.6015590e+000
  4.8000000e+000 -6.6613389e+000  7.0324311e+000 -7.0324311e+000 -1.5841219e+000  2.5222073e+000 -2.5222073e+000
  4.9000000e+000 -5.3363666e+000  6.9638377e+000 -6.9638377e+000 -1.1354201e+000  2.4467990e+000 -2.4467990e+000
  5.0000000e+000 -6.6843490e+000  6.8972052e+000 -6.8972052e+000 -1.5019594e+000  2.3750650e+000 -2.3750650e+000
  5.1000000e+000 -6.9963503e+000  6.8324417e+000 -6.8324417e+000 -1.5492945e+000  2.3067592e+000 -2.3067592e+000
  5.2000000e+000 -6.4782087e+000  6.7694614e+000 -6.7694614e+000 -1.3574842e+000  2.2416561e+000 -2.2416561e+000
  5.3000000e+000 -7.4850791e+000  6.7081836e+000 -6.7081836e+000 -1.6016424e+000  2.1795492e+000 -2.1795492e+000
  5.4000000e+000 -3.9347109e+000  6.6485330e+000 -6.6485330e+000 -5.8204279e-001  2.1202485e+000 -2.1202485e+000
  5.5000000e+000 -5.8218299e+000  6.5904385e+000 -6.5904385e+000 -1.0759171e+000  2.0635794e+000 -2.0635794e+000
  5.6000000e+000 -5.4196499e+000  6.5338335e+000 -6.5338335e+000 -9.4102043e-001  2.0093810e+000 -2.0093810e+000
  5.7000000e+000 -4.4830521e+000  6.4786552e+000 -6.4786552e+000 -6.7280579e-001  1.9575047e+000 -1.9575047e+000
  5.8000000e+000 -5.2548509e+000  6.4248443e+000 -6.4248443e+000 -8.5340434e-001  1.9078132e+000 -1.9078132e+000
  5.9000000e+000 -6.0371812e+000  6.3723451e+000 -6.3723451e+000 -1.0290316e+000  1.8601796e+000 -1.8601796e+000
  6.0000000e+000 -7.3756011e+000  6.3211050e+000 -6.3211050e+000 -1.3349911e+000  1.8144862e+000 -1.8144862e+000
  6.1000000e+000 -8.5051300e+000  6.2710740e+000 -6.2710740e+000 -1.5776019e+000  1.7706238e+000 -1.7706238e+000
  6.2000000e+000 -1.0027487e+001  6.2222052e+000 -6.2222052e+000 -1.9045502e+000  1.7284910e+000 -1.7284910e+000
  6.3000000e+000 -9.2128089e+000  6.1744540e+000 -6.1744540e+000 -1.6676270e+000  1.6879934e+000 -1.6879934e+000
  6.4000000e+000 -7.7518742e+000  6.1277782e+000 -6.1277782e+000 -1.2899380e+000  1.6490433e+000 -1.6490433e+000
  6.5000000e+000 -6.5343434e+000  6.0821376e+000 -6.0821376e+000 -9.8233516e-001  1.6115586e+000 -1.6115586e+000
  6.6000000e+000 -5.8618991e+000  6.0374942e+000 -6.0374942e+000 -8.0900891e-001  1.5754631e+000 -1.5754631e+000
  6.7000000e+000 -7.3858256e+000  5.9938121e+000 -5.9938121e+000 -1.1290333e+000  1.5406853e+000 -1.5406853e+000
  6.8000000e+000 -4.8782553e+000  5.9510567e+000 -5.9510567e+000 -5.5670269e-001  1.5071587e+000 -1.5071587e+000
  6.9000000e+000 -4.1166855e+000  5.9091956e+000 -5.9091956e+000 -3.8091969e-001  1.4748206e+000 -1.4748206e+000
  7.0000000e+000 -4.3034161e+000  5.8681977e+000 -5.8681977e+000 -4.1261765e-001  1.4436125e+000 -1.4436125e+000
  7.1000000e+000 -5.2296388e+000  5.8280333e+000 -5.8280333e+000 -5.9789100e-001  1.4134797e+000 -1.4134797e+000
  7.2000000e+000 -3.6918958e+000  5.7886742e+000 -5.7886742e+000 -2.6843889e-001  1.3843706e+000 -1.3843706e+000
  7.3000000e+000 -3.3827129e+000  5.7500936e+000 -5.7500936e+000 -2.0022158e-001  1.3562367e+000 -1.3562367e+000
  7.4000000e+000 -3.3905961e+000  5.7122657e+000 -5.7122657e+000 -1.9793835e-001  1.3290326e+000 -1.3290326e+000
  7.5000000e+000 -3.3138671e+000  5.6751660e+000 -5.6751660e+000 -1.7896976e-001  1.3027155e+000 -1.3027155e+000
  7.6000000e+000 -3.6335601e+000  5.6387711e+000 -5.6387711e+000 -2.3807964e-001  1.2772450e+000 -1.2772450e+000
  7.7000000e+000 -3.3417569e+000  5.6030586e+000 -5.6030586e+000 -1.7733075e-001  1.2525832e+000 -1.2525832e+000
  7.8000000e+000 -2.3274279e+000  5.5680070e+000 -5.5680070e+000  1.9017492e-002  1.2286940e+000 -1.2286940e+000
  7.9000000e+000 -1.7364672e+000  5.5335957e+000 -5.5335957e+000  1.2956818e-001  1.2055437e+000 -1.2055437e+000
  8.0000000e+000 -1.6582921e+000  5.4998052e+000 -5.4998052e+000  1.4149314e-001  1.1831003e+000 -1.1831003e+000
  8.1000000e+000 -3.2009033e+000  5.4666166e+000 -5.4666166e+000 -1.4399052e-001  1.1613335e+000 -1.1613335e+000
  8.2000000e+000 -3.5544643e+000  5.4340117e+000 -5.4340117e+000 -2.0547817e-001  1.1402148e+000 -1.1402148e+000
  8.3000000e+000 -3.4870177e+000  5.4019733e+000 -5.4019733e+000 -1.8981023e-001  1.1197170e+000 -1.1197170e+000
  8.4000000e+000 -3.6822967e+000  5.3704847e+000 -5.3704847e+000 -2.2101832e-001  1.0998145e+000 -1.0998145e+000
  8.5000000e+000 -4.0731135e+000  5.3395299e+000 -5.3395299e+000 -2.8542743e-001  1.0804829e+000 -1.0804829e+000
  8.6000000e+000 -5.9253406e+000  5.3090936e+000 -5.3090936e+000 -6.0005767e-001  1.0616991e+000 -1.0616991e+000
  8.7000000e+000 -6.0076425e+000  5.2791608e+000 -5.2791608e+000 -6.0376234e-001  1.0434414e+000 -1.0434414e+000
  8.8000000e+000 -7.4645562e+000  5.2497176e+000 -5.2497176e+000 -8.3903238e-001  1.0256887e+000 -1.0256887e+000
  8.9000000e+000 -7.5635590e+000  5.2207501e+000 -5.2207501e+000 -8.4134052e-001  1.0084214e+000 -1.0084214e+000
  9.0000000e+000 -8.1829753e+000  5.1922453e+000 -5.1922453e+000 -9.2929987e-001  9.9162069e-001 -9.9162069e-001
  9.1000000e+000 -8.5411457e+000  5.1641903e+000 -5.1641903e+000 -9.7223137e-001  9.7526857e-001 -9.7526857e-001
  9.2000000e+000 -1.0149506e+001  5.1365731e+000 -5.1365731e+000 -1.2153716e+000  9.5934804e-001 -9.5934804e-001
  9.3000000e+000 -8.8611968e+000  5.1093817e+000 -5.1093817e+000 -9.9029035e-001  9.4384289e-001 -9.4384289e-001
  9.4000000e+000 -7.6414117e+000  5.0826049e+000 -5.0826049e+000 -7.8205697e-001  9.2873758e-001 -9.2873758e-001
  9.5000000e+000 -7.7871177e+000  5.0562317e+000 -5.0562317e+000 -7.9227558e-001  9.1401734e-001 -9.1401734e-001
  9.6000000e+000 -8.4674611e+000  5.0302514e+000 -5.0302514e+000 -8.8467288e-001  8.9966814e-001 -8.9966814e-001
  9.7000000e+000 -8.3663645e+000  5.0046539e+000 -5.0046539e+000 -8.5534459e-001  8.8567654e-001 -8.8567654e-001
  9.8000000e+000 -7.9147788e+000  4.9794292e+000 -4.9794292e+000 -7.7381421e-001  8.7202968e-001 -8.7202968e-001
  9.9000000e+000 -9.1388274e+000  4.9545679e+000 -4.9545679e+000 -9.4481731e-001  8.5871529e-001 -8.5871529e-001
  1.0000000e+001 -8.2686668e+000  4.9300605e+000 -4.9300605e+000 -8.0161498e-001  8.4572168e-001 -8.4572168e-001
  1.0100000e+001 -8.8054921e+000  4.9058983e+000 -4.9058983e+000 -8.6802990e-001  8.3303757e-001 -8.3303757e-001