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

  1.5000000e+001  1.0675595e+005 -6.3658595e+003  1.4070996e+002  4.3196052e+001
  1.5100000e+001  1.0611938e+005 -6.3655647e+003  1.4509292e+002  4.4469217e+001
  1.5200000e+001  1.0548284e+005 -6.3651672e+003  1.4960499e+002  4.5778218e+001
  1.5300000e+001  1.0484635e+005 -6.3646640e+003  1.5424979e+002  4.7123972e+001
  1.5400000e+001  1.0420991e+005 -6.3640521e+003  1.5903104e+002  4.8507417e+001
  1.5500000e+001  1.0357354e+005 -6.3633287e+003  1.6395256e+002  4.9929504e+001
  1.5600000e+001  1.0293725e+005 -6.3624905e+003  1.6901826e+002  5.1391204e+001
  1.5700000e+001  1.0230105e+005 -6.3615344e+003  1.7423216e+002  5.2893504e+001
  1.5800000e+001  1.0166495e+005 -6.3604571e+003  1.7959835e+002  5.4437408e+001
  1.5900000e+001  1.0102896e+005 -6.3592554e+003  1.8512106e+002  5.6023938e+001
  1.6000000e+001  1.0039310e+005 -6.3579258e+003  1.9080459e+002  5.7654129e+001
  1.6100000e+001  9.9757378e+004 -6.3564649e+003  1.9665338e+002  5.9329037e+001
  1.6200000e+001  9.9121810e+004 -6.3548691e+003  2.0267193e+002  6.1049728e+001
  1.6300000e+001  9.8486409e+004 -6.3531347e+003  2.0886488e+002  6.2817288e+001
  1.6400000e+001  9.7851188e+004 -6.3512581e+003  2.1523698e+002  6.4632815e+001
  1.6500000e+001  9.7216162e+004 -6.3492354e+003  2.2179308e+002  6.6497423e+001
  1.6600000e+001  9.6581346e+004 -6.3470628e+003  2.2853814e+002  6.8412236e+001
  1.6700000e+001  9.5946755e+004 -6.3447363e+003  2.3547724e+002  7.0378396e+001
  1.6800000e+001  9.5312404e+004 -6.3422518e+003  2.4261557e+002  7.2397052e+001
  1.6900000e+001  9.4678310e+004 -6.3396052e+003  2.4995844e+002  7.4469369e+001
  1.7000000e+001  9.4044489e+004 -6.3367923e+003  2.5751127e+002  7.6596518e+001
  1.7100000e+001  9.3410957e+004 -6.3338087e+003  2.6527961e+002  7.8779681e+001
  1.7200000e+001  9.2777733e+004 -6.3306502e+003  2.7326912e+002  8.1020050e+001
  1.7300000e+001  9.2144833e+004 -6.3273122e+003  2.8148557e+002  8.3318821e+001
  1.7400000e+001  9.1512276e+004 -6.3237902e+003  2.8993487e+002  8.5677198e+001
  1.7500000e+001  9.0880081e+004 -6.3200794e+003  2.9862303e+002  8.8096388e+001
  1.7600000e+001  9.0248267e+004 -6.3161753e+003  3.0755621e+002  9.0577602e+001
  1.7700000e+001  8.9616853e+004 -6.3120730e+003  3.1674066e+002  9.3122051e+001
  1.7800000e+001  8.8985859e+004 -6.3077675e+003  3.2618277e+002  9.5730946e+001
  1.7900000e+001  8.8355306e+004 -6.3032540e+003  3.3588904e+002  9.8405496e+001
  1.8000000e+001  8.7725215e+004 -6.2985274e+003  3.4586610e+002  1.0114691e+002
  1.8100000e+001  8.7095608e+004 -6.2935825e+003  3.5612069e+002  1.0395638e+002
  1.8200000e+001  8.6466506e+004 -6.2884142e+003  3.6665968e+002  1.0683509e+002
  1.8300000e+001  8.5837933e+004 -6.2830171e+003  3.7749005e+002  1.0978424e+002
  1.8400000e+001  8.5209911e+004 -6.2773860e+003  3.8861891e+002  1.1280497e+002
  1.8500000e+001  8.4582464e+004 -6.2715153e+003  4.0005347e+002  1.1589845e+002
  1.8600000e+001  8.3955616e+004 -6.2653996e+003  4.1180107e+002  1.1906580e+002
  1.8700000e+001  8.3329392e+004 -6.2590334e+003  4.2386913e+002  1.2230814e+002
  1.8800000e+001  8.2703818e+004 -6.2524109e+003  4.3626523e+002  1.2562654e+002
  1.8900000e+001  8.2078919e+004 -6.2455265e+003  4.4899701e+002  1.2902207e+002
  1.9000000e+001  8.1454721e+004 -6.2383746e+003  4.6207225e+002  1.3249575e+002
  1.9100000e+001  8.0831253e+004 -6.2309492e+003  4.7549880e+002  1.3604856e+002
  1.9200000e+001  8.0208541e+004 -6.2232446e+003  4.8928463e+002  1.3968147e+002
  1.9300000e+001  7.9586613e+004 -6.2152548e+003  5.0343780e+002  1.4339539e+002
  1.9400000e+001  7.8965500e+004 -6.2069740e+003  5.1796644e+002  1.4719116e+002
  1.9500000e+001  7.8345229e+004 -6.1983961e+003  5.3287878e+002  1.5106962e+002
  1.9600000e+001  7.7725830e+004 -6.1895153e+003  5.4818314e+002  1.5503151e+002
  1.9700000e+001  7.7107336e+004 -6.1803255e+003  5.6388789e+002  1.5907754e+002
  1.9800000e+001  7.6489776e+004 -6.1708207e+003  5.8000147e+002  1.6320834e+002
  1.9900000e+001  7.5873182e+004 -6.1609948e+003  5.9653240e+002  1.6742447e+002
  2.0000000e+001  7.5257588e+004 -6.1508419e+003  6.1348923e+002  1.7172644e+002
  2.0100000e+001  7.4643025e+004 -6.1403559e+003  6.3088056e+002  1.7611465e+002
  2.0200000e+001  7.4029528e+004 -6.1295308e+003  6.4871504e+002  1.8058944e+002
  2.0300000e+001  7.3417130e+004 -6.1183606e+003  6.6700134e+002  1.8515104e+002
  2.0400000e+001  7.2805867e+004 -6.1068393e+003  6.8574815e+002  1.8979961e+002
  2.0500000e+001  7.2195774e+004 -6.0949611e+003  7.0496417e+002  1.9453519e+002
  2.0600000e+001  7.1586887e+004 -6.0827201e+003  7.2465809e+002  1.9935773e+002
  2.0700000e+001  7.0979243e+004 -6.0701105e+003  7.4483861e+002  2.0426706e+002
  2.0800000e+001  7.0372878e+004 -6.0571264e+003  7.6551438e+002  2.0926289e+002
  2.0900000e+001  6.9767830e+004 -6.0437624e+003  7.8669406e+002  2.1434482e+002
  2.1000000e+001  6.9164138e+004 -6.0300127e+003  8.0838620e+002  2.1951231e+002
  2.1100000e+001  6.8561841e+004 -6.0158720e+003  8.3059935e+002  2.2476470e+002
  2.1200000e+001  6.7960977e+004 -6.0013349e+003  8.5334194e+002  2.3010117e+002
  2.1300000e+001  6.7361587e+004 -5.9863961e+003  8.7662235e+002  2.3552077e+002
  2.1400000e+001  6.6763711e+004 -5.9710506e+003  9.0044883e+002  2.4102241e+002
  2.1500000e+001  6.6167391e+004 -5.9552934e+003  9.2482953e+002  2.4660482e+002
  2.1600000e+001  6.5572666e+004 -5.9391198e+003  9.4977244e+002  2.5226658e+002
  2.1700000e+001  6.4979581e+004 -5.9225251e+003  9.7528543e+002  2.5800610e+002
  2.1800000e+001  6.4388176e+004 -5.9055050e+003  1.0013762e+003  2.6382164e+002
  2.1900000e+001  6.3798494e+004 -5.8880552e+003  1.0280522e+003  2.6971125e+002
  2.2000000e+001  6.3210579e+004 -5.8701718e+003  1.0553208e+003  2.7567282e+002
  2.2100000e+001  6.2624474e+004 -5.8518510e+003  1.0831891e+003  2.8170406e+002
  2.2200000e+001  6.2040224e+004 -5.8330893e+003  1.1116639e+003  2.8780246e+002
  2.2300000e+001  6.1457871e+004 -5.8138834e+003  1.1407518e+003  2.9396537e+002
  2.2400000e+001  6.0877462e+004 -5.7942304e+003  1.1704590e+003  3.0018989e+002
  2.2500000e+001  6.0299040e+004 -5.7741275e+003  1.2007917e+003  3.0647297e+002
  2.2600000e+001  5.9722651e+004 -5.7535724e+003  1.2317555e+003  3.1281132e+002
  2.2700000e+001  5.9148341e+004 -5.7325631e+003  1.2633557e+003  3.1920148e+002
  2.2800000e+001  5.8576154e+004 -5.7110977e+003  1.2955974e+003  3.2563976e+002
  2.2900000e+001  5.8006136e+004 -5.6891748e+003  1.3284851e+003  3.3212230e+002
  2.3000000e+001  5.7438334e+004 -5.6667935e+003  1.3620232e+003  3.3864500e+002
  2.3100000e+001  5.6872793e+004 -5.6439529e+003  1.3962153e+003  3.4520358e+002
  2.3200000e+001  5.6309559e+004 -5.6206529e+003  1.4310649e+003  3.5179355e+002
  2.3300000e+001  5.5748678e+004 -5.5968934e+003  1.4665749e+003  3.5841024e+002
  2.3400000e+001  5.5190196e+004 -5.5726750e+003  1.5027477e+003  3.6504877e+002
  2.3500000e+001  5.4634158e+004 -5.5479986e+003  1.5395852e+003  3.7170405e+002
  2.3600000e+001  5.4080611e+004 -5.5228654e+003  1.5770889e+003  3.7837084e+002
  2.3700000e+001  5.3529600e+004 -5.4972773e+003  1.6152596e+003  3.8504369e+002
  2.3800000e+001  5.2981171e+004 -5.4712364e+003  1.6540976e+003  3.9171700e+002
  2.3900000e+001  5.2435368e+004 -5.4447454e+003  1.6936028e+003  3.9838496e+002
  2.4000000e+001  5.1892237e+004 -5.4178072e+003  1.7337743e+003  4.0504165e+002
  2.4100000e+001  5.1351821e+004 -5.3904256e+003  1.7746106e+003  4.1168096e+002
  2.4200000e+001  5.0814166e+004 -5.3626045e+003  1.8161097e+003  4.1829666e+002
  2.4300000e+001  5.0279315e+004 -5.3343483e+003  1.8582689e+003  4.2488237e+002
  2.4400000e+001  4.9747311e+004 -5.3056620e+003  1.9010849e+003  4.3143160e+002
  2.4500000e+001  4.9218197e+004 -5.2765511e+003  1.9445538e+003  4.3793776e+002
  2.4600000e+001  4.8692014e+004 -5.2470214e+003  1.9886708e+003  4.4439416e+002
  2.4700000e+001  4.8168806e+004 -5.2170792e+003  2.0334307e+003  4.5079402e+002
  2.4800000e+001  4.7648612e+004 -5.1867315e+003  2.0788275e+003  4.5713050e+002
  2.4900000e+001  4.7131473e+004 -5.1559854e+003  2.1248545e+003  4.6339671e+002
  2.5000000e+001  4.6617428e+004 -5.1248488e+003  2.1715043e+003  4.6958572e+002
  2.5100000e+001  4.6106516e+004 -5.0933298e+003  2.2187688e+003  4.7569059e+002
  2.5200000e+001  4.5598775e+004 -5.0614371e+003  2.2666394e+003  4.8170437e+002
  2.5300000e+001  4.5094241e+004 -5.0291797e+003  2.3151064e+003  4.8762013e+002
  2.5400000e+001  4.4592950e+004 -4.9965673e+003  2.3641599e+003  4.9343096e+002
  2.5500000e+001  4.4094939e+004 -4.9636096e+003  2.4137889e+003  4.9913003e+002
  2.5600000e+001  4.3600240e+004 -4.9303171e+003  2.4639819e+003  5.0471055e+002
  2.5700000e+001  4.3108886e+004 -4.8967004e+003  2.5147268e+003  5.1016583e+002
  2.5800000e+001  4.2620910e+004 -4.8627706e+003  2.5660107e+003  5.1548930e+002
  2.5900000e+001  4.2136342e+004 -4.8285393e+003  2.6178201e+003  5.2067450e+002
  2.6000000e+001  4.1655212e+004 -4.7940182e+003  2.6701408e+003  5.2571511e+002
  2.6100000e+001  4.1177548e+004 -4.7592194e+003  2.7229581e+003  5.3060500e+002
  2.6200000e+001  4.0703377e+004 -4.7241554e+003  2.7762566e+003  5.3533818e+002
  2.6300000e+001  4.0232725e+004 -4.6888389e+003  2.8300203e+003  5.3990890e+002
  2.6400000e+001  3.9765617e+004 -4.6532828e+003  2.8842328e+003  5.4431159e+002
  2.6500000e+001  3.9302076e+004 -4.6175004e+003  2.9388768e+003  5.4854094e+002
  2.6600000e+001  3.8842124e+004 -4.5815051e+003  2.9939350e+003  5.5259187e+002
  2.6700000e+001  3.8385782e+004 -4.5453107e+003  3.0493891e+003  5.5645958e+002
  2.6800000e+001  3.7933068e+004 -4.5089308e+003  3.1052207e+003  5.6013951e+002
  2.6900000e+001  3.7484001e+004 -4.4723795e+003  3.1614106e+003  5.6362744e+002
  2.7000000e+001  3.7038597e+004 -4.4356710e+003  3.2179396e+003  5.6691942e+002
  2.7100000e+001  3.6596872e+004 -4.3988193e+003  3.2747878e+003  5.7001182e+002
  2.7200000e+001  3.6158838e+004 -4.3618388e+003  3.3319352e+003  5.7290135e+002
  2.7300000e+001  3.5724508e+004 -4.3247439e+003  3.3893613e+003  5.7558503e+002
  2.7400000e+001  3.5293892e+004 -4.2875489e+003  3.4470453e+003  5.7806023e+002
  2.7500000e+001  3.4867001e+004 -4.2502682e+003  3.5049663e+003  5.8032468e+002
  2.7600000e+001  3.4443841e+004 -4.2129163e+003  3.5631031e+003  5.8237645e+002
  2.7700000e+001  3.4024420e+004 -4.1755073e+003  3.6214344e+003  5.8421396e+002
  2.7800000e+001  3.3608741e+004 -4.1380557e+003  3.6799387e+003  5.8583601e+002
  2.7900000e+001  3.3196809e+004 -4.1005756e+003  3.7385944e+003  5.8724174e+002
  2.8000000e+001  3.2788626e+004 -4.0630811e+003  3.7973798e+003  5.8843067e+002
  2.8100000e+001  3.2384193e+004 -4.0255861e+003  3.8562733e+003  5.8940267e+002
  2.8200000e+001  3.1983509e+004 -3.9881044e+003  3.9152532e+003  5.9015795e+002
  2.8300000e+001  3.1586571e+004 -3.9506497e+003  3.9742977e+003  5.9069710e+002
  2.8400000e+001  3.1193378e+004 -3.9132354e+003  4.0333854e+003  5.9102104e+002
  2.8500000e+001  3.0803922e+004 -3.8758748e+003  4.0924948e+003  5.9113104e+002
  2.8600000e+001  3.0418200e+004 -3.8385809e+003  4.1516045e+003  5.9102870e+002
  2.8700000e+001  3.0036204e+004 -3.8013664e+003  4.2106935e+003  5.9071595e+002
  2.8800000e+001  2.9657924e+004 -3.7642439e+003  4.2697408e+003  5.9019501e+002
  2.8900000e+001  2.9283351e+004 -3.7272256e+003  4.3287257e+003  5.8946844e+002
  2.9000000e+001  2.8912475e+004 -3.6903235e+003  4.3876277e+003  5.8853908e+002
  2.9100000e+001  2.8545282e+004 -3.6535492e+003  4.4464268e+003  5.8741003e+002
  2.9200000e+001  2.8181760e+004 -3.6169141e+003  4.5051032e+003  5.8608470e+002
  2.9300000e+001  2.7821895e+004 -3.5804292e+003  4.5636373e+003  5.8456671e+002
  2.9400000e+001  2.7465669e+004 -3.5441052e+003  4.6220102e+003  5.8285996e+002
  2.9500000e+001  2.7113068e+004 -3.5079525e+003  4.6802032e+003  5.8096853e+002
  2.9600000e+001  2.6764073e+004 -3.4719811e+003  4.7381979e+003  5.7889676e+002
  2.9700000e+001  2.6418665e+004 -3.4362006e+003  4.7959767e+003  5.7664915e+002
  2.9800000e+001  2.6076826e+004 -3.4006205e+003  4.8535220e+003  5.7423039e+002