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 -6.0031750e+003  8.4065320e-004  1.6892830e-002
  2.0000000e-001  1.9879937e+005 -6.0063486e+003  3.3947478e-003  3.4271166e-002
  3.0000000e-001  1.9819857e+005 -6.0095209e+003  7.7115411e-003  5.2149195e-002
  4.0000000e-001  1.9759746e+005 -6.0126919e+003  1.3841729e-002  7.0541524e-002
  5.0000000e-001  1.9699603e+005 -6.0158614e+003  2.1837490e-002  8.9463192e-002
  6.0000000e-001  1.9639429e+005 -6.0190295e+003  3.1752528e-002  1.0892969e-001
  7.0000000e-001  1.9579223e+005 -6.0221961e+003  4.3642119e-002  1.2895696e-001
  8.0000000e-001  1.9518985e+005 -6.0253612e+003  5.7563157e-002  1.4956142e-001
  9.0000000e-001  1.9458716e+005 -6.0285246e+003  7.3574204e-002  1.7075998e-001
  1.0000000e+000  1.9398414e+005 -6.0316865e+003  9.1735535e-002  1.9257005e-001
  1.1000000e+000  1.9338082e+005 -6.0348466e+003  1.1210919e-001  2.1500956e-001
  1.2000000e+000  1.9277718e+005 -6.0380050e+003  1.3475904e-001  2.3809696e-001
  1.3000000e+000  1.9217322e+005 -6.0411617e+003  1.5975081e-001  2.6185127e-001
  1.4000000e+000  1.9156894e+005 -6.0443165e+003  1.8715217e-001  2.8629205e-001
  1.5000000e+000  1.9096435e+005 -6.0474694e+003  2.1703278e-001  3.1143947e-001
  1.6000000e+000  1.9035945e+005 -6.0506204e+003  2.4946431e-001  3.3731428e-001
  1.7000000e+000  1.8975423e+005 -6.0537694e+003  2.8452059e-001  3.6393785e-001
  1.8000000e+000  1.8914870e+005 -6.0569163e+003  3.2227757e-001  3.9133220e-001
  1.9000000e+000  1.8854285e+005 -6.0600611e+003  3.6281348e-001  4.1951999e-001
  2.0000000e+000  1.8793668e+005 -6.0632038e+003  4.0620880e-001  4.4852455e-001
  2.1000000e+000  1.8733021e+005 -6.0663442e+003  4.5254641e-001  4.7836993e-001
  2.2000000e+000  1.8672341e+005 -6.0694822e+003  5.0191163e-001  5.0908088e-001
  2.3000000e+000  1.8611631e+005 -6.0726179e+003  5.5439228e-001  5.4068289e-001
  2.4000000e+000  1.8550889e+005 -6.0757512e+003  6.1007878e-001  5.7320220e-001
  2.5000000e+000  1.8490116e+005 -6.0788819e+003  6.6906420e-001  6.0666586e-001
  2.6000000e+000  1.8429311e+005 -6.0820101e+003  7.3144435e-001  6.4110170e-001
  2.7000000e+000  1.8368476e+005 -6.0851355e+003  7.9731789e-001  6.7653840e-001
  2.8000000e+000  1.8307609e+005 -6.0882582e+003  8.6678637e-001  7.1300547e-001
  2.9000000e+000  1.8246711e+005 -6.0913781e+003  9.3995434e-001  7.5053333e-001
  3.0000000e+000  1.8185781e+005 -6.0944951e+003  1.0169294e+000  7.8915328e-001
  3.1000000e+000  1.8124821e+005 -6.0976090e+003  1.0978225e+000  8.2889759e-001
  3.2000000e+000  1.8063829e+005 -6.1007199e+003  1.1827475e+000  8.6979946e-001
  3.3000000e+000  1.8002806e+005 -6.1038276e+003  1.2718221e+000  9.1189310e-001
  3.4000000e+000  1.7941753e+005 -6.1069320e+003  1.3651670e+000  9.5521374e-001
  3.5000000e+000  1.7880668e+005 -6.1100330e+003  1.4629069e+000  9.9979765e-001
  3.6000000e+000  1.7819552e+005 -6.1131306e+003  1.5651699e+000  1.0456822e+000
  3.7000000e+000  1.7758405e+005 -6.1162246e+003  1.6720880e+000  1.0929059e+000
  3.8000000e+000  1.7697227e+005 -6.1193149e+003  1.7837970e+000  1.1415083e+000
  3.9000000e+000  1.7636019e+005 -6.1224014e+003  1.9004370e+000  1.1915303e+000
  4.0000000e+000  1.7574779e+005 -6.1254840e+003  2.0221518e+000  1.2430138e+000
  4.1000000e+000  1.7513509e+005 -6.1285625e+003  2.1490899e+000  1.2960023e+000
  4.2000000e+000  1.7452208e+005 -6.1316370e+003  2.2814039e+000  1.3505403e+000
  4.3000000e+000  1.7390876e+005 -6.1347072e+003  2.4192511e+000  1.4066736e+000
  4.4000000e+000  1.7329514e+005 -6.1377729e+003  2.5627934e+000  1.4644496e+000
  4.5000000e+000  1.7268121e+005 -6.1408342e+003  2.7121974e+000  1.5239170e+000
  4.6000000e+000  1.7206697e+005 -6.1438908e+003  2.8676348e+000  1.5851260e+000
  4.7000000e+000  1.7145243e+005 -6.1469426e+003  3.0292824e+000  1.6481282e+000
  4.8000000e+000  1.7083758e+005 -6.1499895e+003  3.1973220e+000  1.7129768e+000
  4.9000000e+000  1.7022243e+005 -6.1530313e+003  3.3719411e+000  1.7797266e+000
  5.0000000e+000  1.6960698e+005 -6.1560678e+003  3.5533326e+000  1.8484341e+000
  5.1000000e+000  1.6899122e+005 -6.1590990e+003  3.7416951e+000  1.9191574e+000
  5.2000000e+000  1.6837516e+005 -6.1621246e+003  3.9372333e+000  1.9919563e+000
  5.3000000e+000  1.6775880e+005 -6.1651445e+003  4.1401576e+000  2.0668925e+000
  5.4000000e+000  1.6714213e+005 -6.1681585e+003  4.3506851e+000  2.1440295e+000
  5.5000000e+000  1.6652516e+005 -6.1711664e+003  4.5690391e+000  2.2234327e+000
  5.6000000e+000  1.6590790e+005 -6.1741681e+003  4.7954494e+000  2.3051694e+000
  5.7000000e+000  1.6529033e+005 -6.1771634e+003  5.0301530e+000  2.3893089e+000
  5.8000000e+000  1.6467247e+005 -6.1801520e+003  5.2733937e+000  2.4759228e+000
  5.9000000e+000  1.6405430e+005 -6.1831338e+003  5.5254225e+000  2.5650845e+000
  6.0000000e+000  1.6343584e+005 -6.1861086e+003  5.7864980e+000  2.6568699e+000
  6.1000000e+000  1.6281708e+005 -6.1890762e+003  6.0568865e+000  2.7513569e+000
  6.2000000e+000  1.6219802e+005 -6.1920363e+003  6.3368621e+000  2.8486259e+000
  6.3000000e+000  1.6157867e+005 -6.1949887e+003  6.6267072e+000  2.9487596e+000
  6.4000000e+000  1.6095903e+005 -6.1979332e+003  6.9267124e+000  3.0518433e+000
  6.5000000e+000  1.6033909e+005 -6.2008696e+003  7.2371771e+000  3.1579647e+000
  6.6000000e+000  1.5971885e+005 -6.2037976e+003  7.5584096e+000  3.2672141e+000
  6.7000000e+000  1.5909833e+005 -6.2067170e+003  7.8907273e+000  3.3796847e+000
  6.8000000e+000  1.5847751e+005 -6.2096274e+003  8.2344570e+000  3.4954722e+000
  6.9000000e+000  1.5785640e+005 -6.2125287e+003  8.5899355e+000  3.6146754e+000
  7.0000000e+000  1.5723500e+005 -6.2154206e+003  8.9575093e+000  3.7373959e+000
  7.1000000e+000  1.5661332e+005 -6.2183028e+003  9.3375354e+000  3.8637382e+000
  7.2000000e+000  1.5599134e+005 -6.2211749e+003  9.7303813e+000  3.9938103e+000
  7.3000000e+000  1.5536908e+005 -6.2240368e+003  1.0136425e+001  4.1277229e+000
  7.4000000e+000  1.5474654e+005 -6.2268880e+003  1.0556058e+001  4.2655904e+000
  7.5000000e+000  1.5412371e+005 -6.2297283e+003  1.0989679e+001  4.4075305e+000
  7.6000000e+000  1.5350059e+005 -6.2325574e+003  1.1437704e+001  4.5536642e+000
  7.7000000e+000  1.5287719e+005 -6.2353748e+003  1.1900556e+001  4.7041162e+000
  7.8000000e+000  1.5225352e+005 -6.2381803e+003  1.2378675e+001  4.8590151e+000
  7.9000000e+000  1.5162956e+005 -6.2409735e+003  1.2872512e+001  5.0184929e+000
  8.0000000e+000  1.5100532e+005 -6.2437540e+003  1.3382531e+001  5.1826858e+000
  8.1000000e+000  1.5038081e+005 -6.2465215e+003  1.3909211e+001  5.3517339e+000
  8.2000000e+000  1.4975602e+005 -6.2492755e+003  1.4453044e+001  5.5257816e+000
  8.3000000e+000  1.4913095e+005 -6.2520157e+003  1.5014539e+001  5.7049773e+000
  8.4000000e+000  1.4850562e+005 -6.2547416e+003  1.5594216e+001  5.8894740e+000
  8.5000000e+000  1.4788001e+005 -6.2574528e+003  1.6192615e+001  6.0794291e+000
  8.6000000e+000  1.4725413e+005 -6.2601489e+003  1.6810289e+001  6.2750046e+000
  8.7000000e+000  1.4662798e+005 -6.2628294e+003  1.7447809e+001  6.4763673e+000
  8.8000000e+000  1.4600156e+005 -6.2654938e+003  1.8105761e+001  6.6836888e+000
  8.9000000e+000  1.4537488e+005 -6.2681417e+003  1.8784751e+001  6.8971460e+000
  9.0000000e+000  1.4474793e+005 -6.2707726e+003  1.9485401e+001  7.1169207e+000
  9.1000000e+000  1.4412072e+005 -6.2733860e+003  2.0208352e+001  7.3432001e+000
  9.2000000e+000  1.4349326e+005 -6.2759812e+003  2.0954265e+001  7.5761769e+000
  9.3000000e+000  1.4286553e+005 -6.2785579e+003  2.1723818e+001  7.8160493e+000
  9.4000000e+000  1.4223755e+005 -6.2811154e+003  2.2517711e+001  8.0630215e+000
  9.5000000e+000  1.4160931e+005 -6.2836532e+003  2.3336665e+001  8.3173033e+000
  9.6000000e+000  1.4098082e+005 -6.2861706e+003  2.4181422e+001  8.5791109e+000
  9.7000000e+000  1.4035207e+005 -6.2886671e+003  2.5052746e+001  8.8486667e+000
  9.8000000e+000  1.3972308e+005 -6.2911420e+003  2.5951422e+001  9.1261992e+000
  9.9000000e+000  1.3909385e+005 -6.2935947e+003  2.6878259e+001  9.4119440e+000
  1.0000000e+001  1.3846436e+005 -6.2960245e+003  2.7834092e+001  9.7061431e+000
  1.0100000e+001  1.3783464e+005 -6.2984308e+003  2.8819778e+001  1.0009046e+001
  1.0200000e+001  1.3720468e+005 -6.3008128e+003  2.9836200e+001  1.0320908e+001
  1.0300000e+001  1.3657448e+005 -6.3031697e+003  3.0884267e+001  1.0641993e+001
  1.0400000e+001  1.3594405e+005 -6.3055010e+003  3.1964915e+001  1.0972573e+001
  1.0500000e+001  1.3531338e+005 -6.3078057e+003  3.3079107e+001  1.1312926e+001
  1.0600000e+001  1.3468249e+005 -6.3100832e+003  3.4227836e+001  1.1663339e+001
  1.0700000e+001  1.3405136e+005 -6.3123325e+003  3.5412120e+001  1.2024107e+001
  1.0800000e+001  1.3342002e+005 -6.3145528e+003  3.6633012e+001  1.2395533e+001
  1.0900000e+001  1.3278846e+005 -6.3167433e+003  3.7891593e+001  1.2777928e+001
  1.1000000e+001  1.3215667e+005 -6.3189031e+003  3.9188974e+001  1.3171614e+001
  1.1100000e+001  1.3152468e+005 -6.3210313e+003  4.0526303e+001  1.3576919e+001
  1.1200000e+001  1.3089247e+005 -6.3231268e+003  4.1904757e+001  1.3994183e+001
  1.1300000e+001  1.3026005e+005 -6.3251889e+003  4.3325549e+001  1.4423754e+001
  1.1400000e+001  1.2962743e+005 -6.3272164e+003  4.4789929e+001  1.4865989e+001
  1.1500000e+001  1.2899461e+005 -6.3292083e+003  4.6299182e+001  1.5321257e+001
  1.1600000e+001  1.2836159e+005 -6.3311636e+003  4.7854628e+001  1.5789934e+001
  1.1700000e+001  1.2772838e+005 -6.3330811e+003  4.9457628e+001  1.6272409e+001
  1.1800000e+001  1.2709498e+005 -6.3349599e+003  5.1109583e+001  1.6769082e+001
  1.1900000e+001  1.2646139e+005 -6.3367986e+003  5.2811931e+001  1.7280362e+001
  1.2000000e+001  1.2582762e+005 -6.3385961e+003  5.4566156e+001  1.7806669e+001
  1.2100000e+001  1.2519367e+005 -6.3403513e+003  5.6373780e+001  1.8348435e+001
  1.2200000e+001  1.2455955e+005 -6.3420628e+003  5.8236373e+001  1.8906106e+001
  1.2300000e+001  1.2392526e+005 -6.3437293e+003  6.0155547e+001  1.9480135e+001
  1.2400000e+001  1.2329080e+005 -6.3453496e+003  6.2132961e+001  2.0070992e+001
  1.2500000e+001  1.2265619e+005 -6.3469222e+003  6.4170322e+001  2.0679155e+001
  1.2600000e+001  1.2202142e+005 -6.3484458e+003  6.6269385e+001  2.1305119e+001
  1.2700000e+001  1.2138650e+005 -6.3499189e+003  6.8431956e+001  2.1949388e+001
  1.2800000e+001  1.2075144e+005 -6.3513400e+003  7.0659890e+001  2.2612482e+001
  1.2900000e+001  1.2011624e+005 -6.3527076e+003  7.2955097e+001  2.3294932e+001
  1.3000000e+001  1.1948090e+005 -6.3540202e+003  7.5319540e+001  2.3997285e+001
  1.3100000e+001  1.1884543e+005 -6.3552760e+003  7.7755236e+001  2.4720101e+001
  1.3200000e+001  1.1820985e+005 -6.3564735e+003  8.0264261e+001  2.5463953e+001
  1.3300000e+001  1.1757414e+005 -6.3576110e+003  8.2848748e+001  2.6229430e+001
  1.3400000e+001  1.1693833e+005 -6.3586866e+003  8.5510888e+001  2.7017135e+001
  1.3500000e+001  1.1630241e+005 -6.3596986e+003  8.8252936e+001  2.7827686e+001
  1.3600000e+001  1.1566639e+005 -6.3606452e+003  9.1077208e+001  2.8661717e+001
  1.3700000e+001  1.1503028e+005 -6.3615244e+003  9.3986084e+001  2.9519876e+001
  1.3800000e+001  1.1439409e+005 -6.3623343e+003  9.6982010e+001  3.0402828e+001
  1.3900000e+001  1.1375782e+005 -6.3630729e+003  1.0006750e+002  3.1311252e+001
  1.4000000e+001  1.1312147e+005 -6.3637381e+003  1.0324513e+002  3.2245844e+001
  1.4100000e+001  1.1248507e+005 -6.3643278e+003  1.0651756e+002  3.3207318e+001
  1.4200000e+001  1.1184861e+005 -6.3648399e+003  1.0988752e+002  3.4196401e+001
  1.4300000e+001  1.1121210e+005 -6.3652720e+003  1.1335779e+002  3.5213840e+001
  1.4400000e+001  1.1057556e+005 -6.3656219e+003  1.1693125e+002  3.6260397e+001
  1.4500000e+001  1.0993898e+005 -6.3658873e+003  1.2061086e+002  3.7336851e+001
  1.4600000e+001  1.0930238e+005 -6.3660658e+003  1.2439965e+002  3.8443998e+001
  1.4700000e+001  1.0866577e+005 -6.3661548e+003  1.2830071e+002  3.9582652e+001
  1.4800000e+001  1.0802916e+005 -6.3661518e+003  1.3231726e+002  4.0753644e+001
  1.4900000e+001  1.0739255e+005 -6.3660543e+003  1.3645255e+002  4.1957822e+001