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

  2.0300000e+001 -2.7885012e+000  3.3268444e+000 -3.3268444e+000  2.1895856e-001  2.1592202e-001 -2.1592202e-001
  2.0400000e+001 -3.0662185e+000  3.3140240e+000 -3.3140240e+000  2.0709640e-001  2.1208623e-001 -2.1208623e-001
  2.0500000e+001 -3.2609268e+000  3.3011600e+000 -3.3011600e+000  1.9987870e-001  2.0825943e-001 -2.0825943e-001
  2.0600000e+001 -3.5984964e+000  3.2882502e+000 -3.2882502e+000  1.8640816e-001  2.0444216e-001 -2.0444216e-001
  2.0700000e+001 -3.0850741e+000  3.2752919e+000 -3.2752919e+000  2.1296248e-001  2.0063511e-001 -2.0063511e-001
  2.0800000e+001 -2.9889661e+000  3.2622828e+000 -3.2622828e+000  2.1962767e-001  1.9683893e-001 -1.9683893e-001
  2.0900000e+001 -2.9578360e+000  3.2492205e+000 -3.2492205e+000  2.2326884e-001  1.9305459e-001 -1.9305459e-001
  2.1000000e+001 -2.1527388e+000  3.2361027e+000 -3.2361027e+000  2.6018122e-001  1.8928313e-001 -1.8928313e-001
  2.1100000e+001 -1.3581242e+000  3.2229270e+000 -3.2229270e+000  2.9487958e-001  1.8552560e-001 -1.8552560e-001
  2.1200000e+001 -1.0416974e+000  3.2096912e+000 -3.2096912e+000  3.0824604e-001  1.8178332e-001 -1.8178332e-001
  2.1300000e+001 -1.5539394e+000  3.1963930e+000 -3.1963930e+000  2.8791305e-001  1.7805784e-001 -1.7805784e-001
  2.1400000e+001 -2.3736969e+000  3.1830302e+000 -3.1830302e+000  2.5688672e-001  1.7435092e-001 -1.7435092e-001
  2.1500000e+001 -2.3849190e+000  3.1696008e+000 -3.1696008e+000  2.5825659e-001  1.7066441e-001 -1.7066441e-001
  2.1600000e+001 -1.6499002e+000  3.1561026e+000 -3.1561026e+000  2.8696010e-001  1.6700014e-001 -1.6700014e-001
  2.1700000e+001 -1.7129063e+000  3.1425337e+000 -3.1425337e+000  2.8567289e-001  1.6336016e-001 -1.6336016e-001
  2.1800000e+001 -1.8207370e+000  3.1288921e+000 -3.1288921e+000  2.8302718e-001  1.5974697e-001 -1.5974697e-001
  2.1900000e+001 -1.7348443e+000  3.1151758e+000 -3.1151758e+000  2.8709234e-001  1.5616315e-001 -1.5616315e-001
  2.2000000e+001 -1.7564831e+000  3.1013832e+000 -3.1013832e+000  2.8752958e-001  1.5261144e-001 -1.5261144e-001
  2.2100000e+001 -1.0095199e+000  3.0875124e+000 -3.0875124e+000  3.1174807e-001  1.4909489e-001 -1.4909489e-001
  2.2200000e+001 -4.0508174e-001  3.0735618e+000 -3.0735618e+000  3.2989570e-001  1.4561664e-001 -1.4561664e-001
  2.2300000e+001 -6.8270568e-001  3.0595298e+000 -3.0595298e+000  3.2141010e-001  1.4218024e-001 -1.4218024e-001
  2.2400000e+001 -5.6355144e-001  3.0454148e+000 -3.0454148e+000  3.2445853e-001  1.3878961e-001 -1.3878961e-001
  2.2500000e+001  6.6471510e-002  3.0312155e+000 -3.0312155e+000  3.4052982e-001  1.3544873e-001 -1.3544873e-001
  2.2600000e+001  2.0465459e-001  3.0169305e+000 -3.0169305e+000  3.4275070e-001  1.3216186e-001 -1.3216186e-001
  2.2700000e+001  5.1224037e-001  3.0025587e+000 -3.0025587e+000  3.4860900e-001  1.2893370e-001 -1.2893370e-001
  2.2800000e+001  2.8192174e-001  2.9880988e+000 -2.9880988e+000  3.4160605e-001  1.2576916e-001 -1.2576916e-001
  2.2900000e+001  3.1560954e-001  2.9735498e+000 -2.9735498e+000  3.4077514e-001  1.2267352e-001 -1.2267352e-001
  2.3000000e+001  2.2021555e-001  2.9589110e+000 -2.9589110e+000  3.3727091e-001  1.1965226e-001 -1.1965226e-001
  2.3100000e+001  6.3501907e-002  2.9441814e+000 -2.9441814e+000  3.3285963e-001  1.1671117e-001 -1.1671117e-001
  2.3200000e+001  4.3698192e-001  2.9293604e+000 -2.9293604e+000  3.3803753e-001  1.1385634e-001 -1.1385634e-001
  2.3300000e+001  4.1881315e-001  2.9144474e+000 -2.9144474e+000  3.3589787e-001  1.1109400e-001 -1.1109400e-001
  2.3400000e+001  4.7341983e-001  2.8994420e+000 -2.8994420e+000  3.3485188e-001  1.0843075e-001 -1.0843075e-001
  2.3500000e+001  2.5853639e-001  2.8843440e+000 -2.8843440e+000  3.3000350e-001  1.0587328e-001 -1.0587328e-001
  2.3600000e+001 -3.4490923e-001  2.8691530e+000 -2.8691530e+000  3.2100165e-001  1.0342848e-001 -1.0342848e-001
  2.3700000e+001 -4.2741355e-001  2.8538692e+000 -2.8538692e+000  3.1925859e-001  1.0110327e-001 -1.0110327e-001
  2.3800000e+001 -3.7258640e-001  2.8384925e+000 -2.8384925e+000  3.1900938e-001  9.8904444e-002 -9.8904444e-002
  2.3900000e+001 -3.5939178e-001  2.8230232e+000 -2.8230232e+000  3.1823062e-001  9.6838727e-002 -9.6838727e-002
  2.4000000e+001 -1.4326343e-001  2.8074618e+000 -2.8074618e+000  3.1875002e-001  9.4912618e-002 -9.4912618e-002
  2.4100000e+001  4.1617077e-001  2.7918087e+000 -2.7918087e+000  3.2048082e-001  9.3132228e-002 -9.3132228e-002
  2.4200000e+001  2.8126016e-001  2.7760645e+000 -2.7760645e+000  3.1775691e-001  9.1503158e-002 -9.1503158e-002
  2.4300000e+001  4.3164503e-001  2.7602302e+000 -2.7602302e+000  3.1613661e-001  9.0030432e-002 -9.0030432e-002
  2.4400000e+001  3.2686483e-001  2.7443066e+000 -2.7443066e+000  3.1369427e-001  8.8718197e-002 -8.8718197e-002
  2.4500000e+001  3.2370739e-001  2.7282948e+000 -2.7282948e+000  3.1149151e-001  8.7569695e-002 -8.7569695e-002
  2.4600000e+001  4.7900090e-001  2.7121961e+000 -2.7121961e+000  3.0901651e-001  8.6587073e-002 -8.6587073e-002
  2.4700000e+001  4.1796836e-001  2.6960120e+000 -2.6960120e+000  3.0664202e-001  8.5771300e-002 -8.5771300e-002
  2.4800000e+001  2.2202159e-001  2.6797439e+000 -2.6797439e+000  3.0494456e-001  8.5122100e-002 -8.5122100e-002
  2.4900000e+001  1.9078204e-001  2.6633936e+000 -2.6633936e+000  3.0282996e-001  8.4637882e-002 -8.4637882e-002
  2.5000000e+001  1.6557918e-001  2.6469630e+000 -2.6469630e+000  3.0069817e-001  8.4315732e-002 -8.4315732e-002
  2.5100000e+001  4.5626117e-001  2.6304541e+000 -2.6304541e+000  2.9593930e-001  8.4151459e-002 -8.4151459e-002
  2.5200000e+001  1.0757545e-001  2.6138689e+000 -2.6138689e+000  2.9649535e-001  8.4139657e-002 -8.4139657e-002
  2.5300000e+001 -2.0388852e-001  2.5972099e+000 -2.5972099e+000  2.9756798e-001  8.4273807e-002 -8.4273807e-002
  2.5400000e+001  4.9796894e-001  2.5804794e+000 -2.5804794e+000  2.8679939e-001  8.4546407e-002 -8.4546407e-002
  2.5500000e+001  1.0531184e+000  2.5636801e+000 -2.5636801e+000  2.7599080e-001  8.4949146e-002 -8.4949146e-002
  2.5600000e+001  9.5263850e-001  2.5468147e+000 -2.5468147e+000  2.7353558e-001  8.5473046e-002 -8.5473046e-002
  2.5700000e+001  1.1735513e+000  2.5298859e+000 -2.5298859e+000  2.6595113e-001  8.6108612e-002 -8.6108612e-002
  2.5800000e+001  1.4818887e+000  2.5128969e+000 -2.5128969e+000  2.5609927e-001  8.6846043e-002 -8.6846043e-002
  2.5900000e+001  8.1708165e-001  2.4958506e+000 -2.4958506e+000  2.6417010e-001  8.7675356e-002 -8.7675356e-002
  2.6000000e+001  1.0401840e+000  2.4787504e+000 -2.4787504e+000  2.5562562e-001  8.8586501e-002 -8.8586501e-002
  2.6100000e+001  1.3344706e+000  2.4615996e+000 -2.4615996e+000  2.4481748e-001  8.9569578e-002 -8.9569578e-002
  2.6200000e+001  1.2558814e+000  2.4444015e+000 -2.4444015e+000  2.4187021e-001  9.0614861e-002 -9.0614861e-002
  2.6300000e+001  1.4223092e+000  2.4271599e+000 -2.4271599e+000  2.3300447e-001  9.1712886e-002 -9.1712886e-002
  2.6400000e+001  1.6799573e+000  2.4098784e+000 -2.4098784e+000  2.2123925e-001  9.2854566e-002 -9.2854566e-002
  2.6500000e+001  1.9920704e+000  2.3925607e+000 -2.3925607e+000  2.0722143e-001  9.4031209e-002 -9.4031209e-002
  2.6600000e+001  2.1100406e+000  2.3752107e+000 -2.3752107e+000  1.9789283e-001  9.5234559e-002 -9.5234559e-002
  2.6700000e+001  1.9772513e+000  2.3578322e+000 -2.3578322e+000  1.9574073e-001  9.6456814e-002 -9.6456814e-002
  2.6800000e+001  2.2880733e+000  2.3404294e+000 -2.3404294e+000  1.7998920e-001  9.7690647e-002 -9.7690647e-002
  2.6900000e+001  2.2864314e+000  2.3230062e+000 -2.3230062e+000  1.7357747e-001  9.8929233e-002 -9.8929233e-002
  2.7000000e+001  2.2683572e+000  2.3055668e+000 -2.3055668e+000  1.6769293e-001  1.0016620e-001 -1.0016620e-001
  2.7100000e+001  2.3198197e+000  2.2881154e+000 -2.2881154e+000  1.5937928e-001  1.0139565e-001 -1.0139565e-001
  2.7200000e+001  2.0944136e+000  2.2706562e+000 -2.2706562e+000  1.6098271e-001  1.0261216e-001 -1.0261216e-001
  2.7300000e+001  1.9440296e+000  2.2531935e+000 -2.2531935e+000  1.6030511e-001  1.0381072e-001 -1.0381072e-001
  2.7400000e+001  1.3418187e+000  2.2357316e+000 -2.2357316e+000  1.7751750e-001  1.0498677e-001 -1.0498677e-001
  2.7500000e+001  1.5758610e+000  2.2182747e+000 -2.2182747e+000  1.6271069e-001  1.0613613e-001 -1.0613613e-001
  2.7600000e+001  1.5305384e+000  2.2008273e+000 -2.2008273e+000  1.5881733e-001  1.0725506e-001 -1.0725506e-001
  2.7700000e+001  1.3653800e+000  2.1833937e+000 -2.1833937e+000  1.6008302e-001  1.0834014e-001 -1.0834014e-001
  2.7800000e+001  1.4604564e+000  2.1659782e+000 -2.1659782e+000  1.5039391e-001  1.0938832e-001 -1.0938832e-001
  2.7900000e+001  1.3482882e+000  2.1485852e+000 -2.1485852e+000  1.4971213e-001  1.1039688e-001 -1.1039688e-001
  2.8000000e+001  1.0307511e+000  2.1312189e+000 -2.1312189e+000  1.5865789e-001  1.1136341e-001 -1.1136341e-001
  2.8100000e+001  8.7725939e-001  2.1138837e+000 -2.1138837e+000  1.6061482e-001  1.1228579e-001 -1.1228579e-001
  2.8200000e+001  7.1278836e-001  2.0965839e+000 -2.0965839e+000  1.6341383e-001  1.1316218e-001 -1.1316218e-001
  2.8300000e+001  7.4401944e-001  2.0793237e+000 -2.0793237e+000  1.5697298e-001  1.1399101e-001 -1.1399101e-001
  2.8400000e+001  6.8521152e-001  2.0621073e+000 -2.0621073e+000  1.5494579e-001  1.1477095e-001 -1.1477095e-001
  2.8500000e+001  7.6437407e-001  2.0449388e+000 -2.0449388e+000  1.4599621e-001  1.1550091e-001 -1.1550091e-001
  2.8600000e+001  7.8063809e-001  2.0278223e+000 -2.0278223e+000  1.4014255e-001  1.1617999e-001 -1.1617999e-001
  2.8700000e+001  7.8671498e-001  2.0107619e+000 -2.0107619e+000  1.3478960e-001  1.1680752e-001 -1.1680752e-001
  2.8800000e+001  6.1786939e-001  1.9937615e+000 -1.9937615e+000  1.3883927e-001  1.1738300e-001 -1.1738300e-001
  2.8900000e+001  5.4126500e-001  1.9768250e+000 -1.9768250e+000  1.3815669e-001  1.1790614e-001 -1.1790614e-001
  2.9000000e+001  5.3705602e-001  1.9599563e+000 -1.9599563e+000  1.3358667e-001  1.1837677e-001 -1.1837677e-001
  2.9100000e+001  5.8597071e-001  1.9431590e+000 -1.9431590e+000  1.2602423e-001  1.1879491e-001 -1.1879491e-001
  2.9200000e+001  6.1256723e-001  1.9264368e+000 -1.9264368e+000  1.1966306e-001  1.1916070e-001 -1.1916070e-001
  2.9300000e+001  7.7250989e-001  1.9097933e+000 -1.9097933e+000  1.0550717e-001  1.1947443e-001 -1.1947443e-001
  2.9400000e+001  6.5180894e-001  1.8932319e+000 -1.8932319e+000  1.0766085e-001  1.1973650e-001 -1.1973650e-001
  2.9500000e+001  4.7662866e-001  1.8767559e+000 -1.8767559e+000  1.1328584e-001  1.1994743e-001 -1.1994743e-001
  2.9600000e+001  6.0884052e-001  1.8603688e+000 -1.8603688e+000  1.0059492e-001  1.2010785e-001 -1.2010785e-001
  2.9700000e+001  3.6606754e-001  1.8440735e+000 -1.8440735e+000  1.1070321e-001  1.2021847e-001 -1.2021847e-001
  2.9800000e+001  4.2326298e-001  1.8278732e+000 -1.8278732e+000  1.0259821e-001  1.2028011e-001 -1.2028011e-001
  2.9900000e+001  3.9077016e-001  1.8117708e+000 -1.8117708e+000  1.0005813e-001  1.2029363e-001 -1.2029363e-001
  3.0000000e+001  3.3534880e-001  1.7957691e+000 -1.7957691e+000  9.9043248e-002  1.2026000e-001 -1.2026000e-001