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

  1.0200000e+001 -1.0390888e+001  4.8820726e+000 -4.8820726e+000 -1.0847324e+000  8.2065224e-001 -8.2065224e-001
  1.0300000e+001 -1.0475603e+001  4.8585749e+000 -4.8585749e+000 -1.0806653e+000  8.0855547e-001 -8.0855547e-001
  1.0400000e+001 -9.3809573e+000  4.8353972e+000 -4.8353972e+000 -9.0911371e-001  7.9673733e-001 -7.9673733e-001
  1.0500000e+001 -1.1372714e+001  4.8125316e+000 -4.8125316e+000 -1.1758680e+000  7.8518836e-001 -7.8518836e-001
  1.0600000e+001 -1.0295959e+001  4.7899704e+000 -4.7899704e+000 -1.0087023e+000  7.7389960e-001 -7.7389960e-001
  1.0700000e+001 -1.0272571e+001  4.7677063e+000 -4.7677063e+000 -9.9081586e-001  7.6286227e-001 -7.6286227e-001
  1.0800000e+001 -1.0735888e+001  4.7457321e+000 -4.7457321e+000 -1.0397981e+000  7.5206806e-001 -7.5206806e-001
  1.0900000e+001 -1.1547746e+001  4.7240408e+000 -4.7240408e+000 -1.1347250e+000  7.4150898e-001 -7.4150898e-001
  1.1000000e+001 -1.1191280e+001  4.7026257e+000 -4.7026257e+000 -1.0708110e+000  7.3117736e-001 -7.3117736e-001
  1.1100000e+001 -1.1466765e+001  4.6814802e+000 -4.6814802e+000 -1.0922239e+000  7.2106577e-001 -7.2106577e-001
  1.1200000e+001 -9.6336069e+000  4.6605978e+000 -4.6605978e+000 -8.3583727e-001  7.1116713e-001 -7.1116713e-001
  1.1300000e+001 -9.4327558e+000  4.6399725e+000 -4.6399725e+000 -7.9794397e-001  7.0147453e-001 -7.0147453e-001
  1.1400000e+001 -8.5378080e+000  4.6195980e+000 -4.6195980e+000 -6.7130558e-001  6.9198145e-001 -6.9198145e-001
  1.1500000e+001 -6.8818219e+000  4.5994687e+000 -4.5994687e+000 -4.5021001e-001  6.8268154e-001 -6.8268154e-001
  1.1600000e+001 -7.6192959e+000  4.5795787e+000 -4.5795787e+000 -5.3729817e-001  6.7356868e-001 -6.7356868e-001
  1.1700000e+001 -8.6331699e+000  4.5599224e+000 -4.5599224e+000 -6.5708343e-001  6.6463708e-001 -6.6463708e-001
  1.1800000e+001 -8.6057738e+000  4.5404945e+000 -4.5404945e+000 -6.4462233e-001  6.5588109e-001 -6.5588109e-001
  1.1900000e+001 -7.4881548e+000  4.5212896e+000 -4.5212896e+000 -4.9800626e-001  6.4729521e-001 -6.4729521e-001
  1.2000000e+001 -9.2509024e+000  4.5023026e+000 -4.5023026e+000 -7.0645550e-001  6.3887414e-001 -6.3887414e-001
  1.2100000e+001 -8.6975002e+000  4.4835284e+000 -4.4835284e+000 -6.2985790e-001  6.3061291e-001 -6.3061291e-001
  1.2200000e+001 -9.2091268e+000  4.4649622e+000 -4.4649622e+000 -6.8268088e-001  6.2250651e-001 -6.2250651e-001
  1.2300000e+001 -8.8755044e+000  4.4465992e+000 -4.4465992e+000 -6.3377695e-001  6.1455025e-001 -6.1455025e-001
  1.2400000e+001 -9.6884652e+000  4.4284346e+000 -4.4284346e+000 -7.2103841e-001  6.0673952e-001 -6.0673952e-001
  1.2500000e+001 -9.7067840e+000  4.4104639e+000 -4.4104639e+000 -7.1351041e-001  5.9906994e-001 -5.9906994e-001
  1.2600000e+001 -9.1076765e+000  4.3926826e+000 -4.3926826e+000 -6.3457269e-001  5.9153719e-001 -5.9153719e-001
  1.2700000e+001 -8.9477915e+000  4.3750864e+000 -4.3750864e+000 -6.0769245e-001  5.8413712e-001 -5.8413712e-001
  1.2800000e+001 -8.6542341e+000  4.3576710e+000 -4.3576710e+000 -5.6611244e-001  5.7686572e-001 -5.7686572e-001
  1.2900000e+001 -9.5153711e+000  4.3404321e+000 -4.3404321e+000 -6.5563852e-001  5.6971911e-001 -5.6971911e-001
  1.3000000e+001 -9.8229704e+000  4.3233656e+000 -4.3233656e+000 -6.8129301e-001  5.6269359e-001 -5.6269359e-001
  1.3100000e+001 -9.8698451e+000  4.3064676e+000 -4.3064676e+000 -6.7742693e-001  5.5578549e-001 -5.5578549e-001
  1.3200000e+001 -9.2005981e+000  4.2897342e+000 -4.2897342e+000 -5.9484291e-001  5.4899127e-001 -5.4899127e-001
  1.3300000e+001 -8.3665350e+000  4.2731613e+000 -4.2731613e+000 -4.9595490e-001  5.4230746e-001 -5.4230746e-001
  1.3400000e+001 -8.6463676e+000  4.2567453e+000 -4.2567453e+000 -5.1943574e-001  5.3573074e-001 -5.3573074e-001
  1.3500000e+001 -9.5049434e+000  4.2404824e+000 -4.2404824e+000 -6.0436656e-001  5.2925794e-001 -5.2925794e-001
  1.3600000e+001 -8.7132444e+000  4.2243690e+000 -4.2243690e+000 -5.1216111e-001  5.2288596e-001 -5.2288596e-001
  1.3700000e+001 -7.6115317e+000  4.2084014e+000 -4.2084014e+000 -3.8914462e-001  5.1661167e-001 -5.1661167e-001
  1.3800000e+001 -8.6457571e+000  4.1925762e+000 -4.1925762e+000 -4.9164471e-001  5.1043210e-001 -5.1043210e-001
  1.3900000e+001 -8.5228623e+000  4.1768898e+000 -4.1768898e+000 -4.7215636e-001  5.0434450e-001 -5.0434450e-001
  1.4000000e+001 -7.7767012e+000  4.1613389e+000 -4.1613389e+000 -3.8901611e-001  4.9834601e-001 -4.9834601e-001
  1.4100000e+001 -6.7402844e+000  4.1459200e+000 -4.1459200e+000 -2.7797612e-001  4.9243387e-001 -4.9243387e-001
  1.4200000e+001 -7.4277198e+000  4.1306299e+000 -4.1306299e+000 -3.4311306e-001  4.8660543e-001 -4.8660543e-001
  1.4300000e+001 -8.2948292e+000  4.1154653e+000 -4.1154653e+000 -4.2481722e-001  4.8085821e-001 -4.8085821e-001
  1.4400000e+001 -9.3078115e+000  4.1004229e+000 -4.1004229e+000 -5.1923214e-001  4.7518973e-001 -4.7518973e-001
  1.4500000e+001 -9.5309386e+000  4.0854996e+000 -4.0854996e+000 -5.3393145e-001  4.6959753e-001 -4.6959753e-001
  1.4600000e+001 -9.3852116e+000  4.0706923e+000 -4.0706923e+000 -5.1226450e-001  4.6407921e-001 -4.6407921e-001
  1.4700000e+001 -1.0596143e+001  4.0559978e+000 -4.0559978e+000 -6.2209882e-001  4.5863241e-001 -4.5863241e-001
  1.4800000e+001 -1.1205143e+001  4.0414131e+000 -4.0414131e+000 -6.7186731e-001  4.5325497e-001 -4.5325497e-001
  1.4900000e+001 -9.8442126e+000  4.0269352e+000 -4.0269352e+000 -5.3330641e-001  4.4794463e-001 -4.4794463e-001
  1.5000000e+001 -9.6332455e+000  4.0125611e+000 -4.0125611e+000 -5.0581811e-001  4.4269911e-001 -4.4269911e-001
  1.5100000e+001 -1.1014383e+001  3.9982877e+000 -3.9982877e+000 -6.2746082e-001  4.3751638e-001 -4.3751638e-001
  1.5200000e+001 -1.0370981e+001  3.9841123e+000 -3.9841123e+000 -5.5904056e-001  4.3239450e-001 -4.3239450e-001
  1.5300000e+001 -1.0327913e+001  3.9700318e+000 -3.9700318e+000 -5.4700233e-001  4.2733133e-001 -4.2733133e-001
  1.5400000e+001 -9.8896975e+000  3.9560434e+000 -3.9560434e+000 -4.9914382e-001  4.2232495e-001 -4.2232495e-001
  1.5500000e+001 -1.0512313e+001  3.9421442e+000 -3.9421442e+000 -5.4779841e-001  4.1737340e-001 -4.1737340e-001
  1.5600000e+001 -9.9033047e+000  3.9283314e+000 -3.9283314e+000 -4.8523941e-001  4.1247491e-001 -4.1247491e-001
  1.5700000e+001 -9.7462517e+000  3.9146023e+000 -3.9146023e+000 -4.6388858e-001  4.0762755e-001 -4.0762755e-001
  1.5800000e+001 -9.1066575e+000  3.9009539e+000 -3.9009539e+000 -4.0050126e-001  4.0282956e-001 -4.0282956e-001
  1.5900000e+001 -8.8175938e+000  3.8873835e+000 -3.8873835e+000 -3.6881757e-001  3.9807916e-001 -3.9807916e-001
  1.6000000e+001 -9.2934799e+000  3.8738883e+000 -3.8738883e+000 -4.0361035e-001  3.9337466e-001 -3.9337466e-001
  1.6100000e+001 -9.1934476e+000  3.8604657e+000 -3.8604657e+000 -3.8833393e-001  3.8871445e-001 -3.8871445e-001
  1.6200000e+001 -9.0050344e+000  3.8471129e+000 -3.8471129e+000 -3.6576679e-001  3.8409685e-001 -3.8409685e-001
  1.6300000e+001 -8.2778968e+000  3.8338271e+000 -3.8338271e+000 -2.9838592e-001  3.7952024e-001 -3.7952024e-001
  1.6400000e+001 -7.2514438e+000  3.8206056e+000 -3.8206056e+000 -2.0748494e-001  3.7498302e-001 -3.7498302e-001
  1.6500000e+001 -7.3142381e+000  3.8074459e+000 -3.8074459e+000 -2.0806184e-001  3.7048362e-001 -3.7048362e-001
  1.6600000e+001 -7.4421499e+000  3.7943451e+000 -3.7943451e+000 -2.1380627e-001  3.6602065e-001 -3.6602065e-001
  1.6700000e+001 -7.4777878e+000  3.7813005e+000 -3.7813005e+000 -2.1184601e-001  3.6159263e-001 -3.6159263e-001
  1.6800000e+001 -6.2631809e+000  3.7683096e+000 -3.7683096e+000 -1.0989222e-001  3.5719814e-001 -3.5719814e-001
  1.6900000e+001 -6.5176510e+000  3.7553697e+000 -3.7553697e+000 -1.2636960e-001  3.5283566e-001 -3.5283566e-001
  1.7000000e+001 -6.5159399e+000  3.7424780e+000 -3.7424780e+000 -1.2227803e-001  3.4850394e-001 -3.4850394e-001
  1.7100000e+001 -7.0738505e+000  3.7296320e+000 -3.7296320e+000 -1.6155070e-001  3.4420165e-001 -3.4420165e-001
  1.7200000e+001 -7.0041139e+000  3.7168289e+000 -3.7168289e+000 -1.5158807e-001  3.3992753e-001 -3.3992753e-001
  1.7300000e+001 -6.9652860e+000  3.7040662e+000 -3.7040662e+000 -1.4406359e-001  3.3568024e-001 -3.3568024e-001
  1.7400000e+001 -6.4992988e+000  3.6913413e+000 -3.6913413e+000 -1.0445902e-001  3.3145855e-001 -3.3145855e-001
  1.7500000e+001 -5.8092066e+000  3.6786513e+000 -3.6786513e+000 -4.8998022e-002  3.2726121e-001 -3.2726121e-001
  1.7600000e+001 -5.5321131e+000  3.6659938e+000 -3.6659938e+000 -2.5147943e-002  3.2308702e-001 -3.2308702e-001
  1.7700000e+001 -6.1956945e+000  3.6533661e+000 -3.6533661e+000 -7.0222642e-002  3.1893489e-001 -3.1893489e-001
  1.7800000e+001 -7.0288236e+000  3.6407655e+000 -3.6407655e+000 -1.2622890e-001  3.1480381e-001 -3.1480381e-001
  1.7900000e+001 -6.1929460e+000  3.6281894e+000 -3.6281894e+000 -6.1863705e-002  3.1069273e-001 -3.1069273e-001
  1.8000000e+001 -6.2741135e+000  3.6156351e+000 -3.6156351e+000 -6.3517402e-002  3.0660043e-001 -3.0660043e-001
  1.8100000e+001 -6.1404094e+000  3.6031001e+000 -3.6031001e+000 -5.0024161e-002  3.0252600e-001 -3.0252600e-001
  1.8200000e+001 -6.0780339e+000  3.5905816e+000 -3.5905816e+000 -4.1627351e-002  2.9846846e-001 -2.9846846e-001
  1.8300000e+001 -6.3763165e+000  3.5780771e+000 -3.5780771e+000 -5.7780218e-002  2.9442690e-001 -2.9442690e-001
  1.8400000e+001 -5.7416774e+000  3.5655839e+000 -3.5655839e+000 -1.0742095e-002  2.9040046e-001 -2.9040046e-001
  1.8500000e+001 -5.1221618e+000  3.5530993e+000 -3.5530993e+000  3.4157889e-002  2.8638818e-001 -2.8638818e-001
  1.8600000e+001 -5.1607970e+000  3.5406207e+000 -3.5406207e+000  3.4902184e-002  2.8238927e-001 -2.8238927e-001
  1.8700000e+001 -5.2018141e+000  3.5281454e+000 -3.5281454e+000  3.5626477e-002  2.7840303e-001 -2.7840303e-001
  1.8800000e+001 -4.9762619e+000  3.5156708e+000 -3.5156708e+000  5.3472460e-002  2.7442875e-001 -2.7442875e-001
  1.8900000e+001 -4.7690735e+000  3.5031943e+000 -3.5031943e+000  6.9793485e-002  2.7046573e-001 -2.7046573e-001
  1.9000000e+001 -5.1106157e+000  3.4907132e+000 -3.4907132e+000  5.1763281e-002  2.6651334e-001 -2.6651334e-001
  1.9100000e+001 -4.6992933e+000  3.4782248e+000 -3.4782248e+000  8.0472025e-002  2.6257109e-001 -2.6257109e-001
  1.9200000e+001 -4.5180032e+000  3.4657266e+000 -3.4657266e+000  9.4584513e-002  2.5863836e-001 -2.5863836e-001
  1.9300000e+001 -4.7687116e+000  3.4532158e+000 -3.4532158e+000  8.2762564e-002  2.5471470e-001 -2.5471470e-001
  1.9400000e+001 -4.8168653e+000  3.4406899e+000 -3.4406899e+000  8.3343018e-002  2.5079977e-001 -2.5079977e-001
  1.9500000e+001 -5.4502533e+000  3.4281462e+000 -3.4281462e+000  5.0394403e-002  2.4689320e-001 -2.4689320e-001
  1.9600000e+001 -5.3270731e+000  3.4155822e+000 -3.4155822e+000  6.1649292e-002  2.4299479e-001 -2.4299479e-001
  1.9700000e+001 -5.2128822e+000  3.4029951e+000 -3.4029951e+000  7.2223228e-002  2.3910421e-001 -2.3910421e-001
  1.9800000e+001 -4.9386840e+000  3.3903824e+000 -3.3903824e+000  9.1405751e-002  2.3522131e-001 -2.3522131e-001
  1.9900000e+001 -4.5913811e+000  3.3777415e+000 -3.3777415e+000  1.1403468e-001  2.3134600e-001 -2.3134600e-001
  2.0000000e+001 -4.9240983e+000  3.3650698e+000 -3.3650698e+000  1.0000681e-001  2.2747827e-001 -2.2747827e-001
  2.0100000e+001 -4.2391581e+000  3.3523648e+000 -3.3523648e+000  1.3965602e-001  2.2361830e-001 -2.2361830e-001
  2.0200000e+001 -4.0204098e+000  3.3396238e+000 -3.3396238e+000  1.5414078e-001  2.1976611e-001 -2.1976611e-001