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  1.2276439e+000  1.0000000e+000  4.6724819e+000  3.0000000e+001  3.1483735e-001  1.0000000e+003
  2.0000000e-001  1.1085880e+000  1.0000000e+000  6.1433421e+000  2.2500000e+001  9.2898328e-001  2.5000000e+002
  3.0000000e-001  1.0450629e+000  1.0000000e+000  4.8804646e+000  1.5000000e+001  1.4157058e+000  1.0000000e+002
  4.0000000e-001  9.1739884e-001  9.5000000e-001  3.5838867e+000  1.0500000e+001  1.8770282e+000  5.0000000e+001
  5.0000000e-001  8.0962342e-001  8.8571429e-001  2.8356951e+000  7.7142857e+000  2.3939972e+000  2.8571429e+001
  6.0000000e-001  7.4107580e-001  8.2142857e-001  2.4967283e+000  5.8928571e+000  2.9147873e+000  1.7857143e+001
  7.0000000e-001  7.0641379e-001  7.6190476e-001  2.3867337e+000  4.6428571e+000  3.3299952e+000  1.1904762e+001
  8.0000000e-001  6.9298661e-001  7.0833333e-001  2.3634236e+000  3.7500000e+000  3.5384797e+000  8.3333333e+000
  9.0000000e-001  6.8713267e-001  6.6060606e-001  2.3315100e+000  3.0909091e+000  3.5047975e+000  6.0606061e+000
  1.0000000e+000  6.7893890e-001  6.1818182e-001  2.2487598e+000  2.5909091e+000  3.2723412e+000  4.5454545e+000
  1.1000000e+000  6.6421800e-001  5.8041958e-001  2.1151191e+000  2.2027972e+000  2.9252927e+000  3.4965035e+000
  1.2000000e+000  6.4313795e-001  5.4670330e-001  1.9499899e+000  1.8956044e+000  2.5421157e+000  2.7472527e+000
  1.3000000e+000  6.1774607e-001  5.1648352e-001  1.7741674e+000  1.6483516e+000  2.1738566e+000  2.1978022e+000
  1.4000000e+000  5.9025332e-001  4.8928571e-001  1.6023618e+000  1.4464286e+000  1.8451482e+000  1.7857143e+000
  1.5000000e+000  5.6234988e-001  4.6470588e-001  1.4426768e+000  1.2794118e+000  1.5633309e+000  1.4705882e+000
  1.6000000e+000  5.3512059e-001  4.4240196e-001  1.2984810e+000  1.1397059e+000  1.3267842e+000  1.2254902e+000
  1.7000000e+000  5.0917436e-001  4.2208462e-001  1.1703501e+000  1.0216718e+000  1.1302064e+000  1.0319917e+000
  1.8000000e+000  4.8480058e-001  4.0350877e-001  1.0574334e+000  9.2105263e-001  9.6738233e-001  8.7719298e-001
  1.9000000e+000  4.6209255e-001  3.8646617e-001  9.5827139e-001  8.3458647e-001  8.3242645e-001  7.5187970e-001
  2.0000000e+000  4.4103115e-001  3.7077922e-001  8.7123609e-001  7.5974026e-001  7.2023383e-001  6.4935065e-001
  2.1000000e+000  4.2153754e-001  3.5629588e-001  7.9474886e-001  6.9452287e-001  6.2656171e-001  5.6465274e-001
  2.2000000e+000  4.0350473e-001  3.4288538e-001  7.2737451e-001  6.3735178e-001  5.4795929e-001  4.9407115e-001
  2.3000000e+000  3.8681584e-001  3.3043478e-001  6.6785165e-001  5.8695652e-001  4.8164897e-001  4.3478261e-001
  2.4000000e+000  3.7135425e-001  3.1884615e-001  6.1509200e-001  5.4230769e-001  4.2540393e-001  3.8461538e-001
  2.5000000e+000  3.5700895e-001  3.0803419e-001  5.6816584e-001  5.0256410e-001  3.7743932e-001  3.4188034e-001
  2.6000000e+000  3.4367701e-001  2.9792430e-001  5.2628284e-001  4.6703297e-001  3.3632149e-001  3.0525031e-001
  2.7000000e+000  3.3126456e-001  2.8845101e-001  4.8877233e-001  4.3513957e-001  3.0089484e-001  2.7367269e-001
  2.8000000e+000  3.1968674e-001  2.7955665e-001  4.5506499e-001  4.0640394e-001  2.7022391e-001  2.4630542e-001
  2.9000000e+000  3.0886731e-001  2.7119021e-001  4.2467689e-001  3.8042269e-001  2.4354772e-001  2.2246941e-001
  3.0000000e+000  2.9873796e-001  2.6330645e-001  3.9719570e-001  3.5685484e-001  2.2024418e-001  2.0161290e-001
  3.1000000e+000  2.8923761e-001  2.5586510e-001  3.7226909e-001  3.3541056e-001  1.9980207e-001  1.8328446e-001
  3.2000000e+000  2.8031161e-001  2.4883021e-001  3.4959508e-001  3.1584225e-001  1.8179918e-001  1.6711230e-001
  3.3000000e+000  2.7191105e-001  2.4216960e-001  3.2891401e-001  2.9793736e-001  1.6588505e-001  1.5278839e-001
  3.4000000e+000  2.6399217e-001  2.3585434e-001  3.1000182e-001  2.8151261e-001  1.5176732e-001  1.4005602e-001
  3.5000000e+000  2.5651567e-001  2.2985843e-001  2.9266453e-001  2.6640927e-001  1.3920100e-001  1.2870013e-001
  3.6000000e+000  2.4944627e-001  2.2415837e-001  2.7673366e-001  2.5248933e-001  1.2797980e-001  1.1853959e-001
  3.7000000e+000  2.4275222e-001  2.1873290e-001  2.6206236e-001  2.3963234e-001  1.1792927e-001  1.0942116e-001
  3.8000000e+000  2.3640488e-001  2.1356275e-001  2.4852224e-001  2.2773279e-001  1.0890127e-001  1.0121457e-001
  3.9000000e+000  2.3037839e-001  2.0863039e-001  2.3600070e-001  2.1669794e-001  1.0076947e-001  9.3808630e-002
  4.0000000e+000  2.2464933e-001  2.0391986e-001  2.2439867e-001  2.0644599e-001  9.3425732e-002  8.7108014e-002
  4.1000000e+000  2.1919648e-001  1.9941658e-001  2.1362876e-001  1.9690463e-001  8.6777140e-002  8.1030711e-002
  4.2000000e+000  2.1400052e-001  1.9510722e-001  2.0361363e-001  1.8800966e-001  8.0743569e-002  7.5505889e-002
  4.3000000e+000  2.0904390e-001  1.9097956e-001  1.9428467e-001  1.7970402e-001  7.5255690e-002  7.0472163e-002
  4.4000000e+000  2.0431059e-001  1.8702240e-001  1.8558084e-001  1.7193676e-001  7.0253315e-002  6.5876153e-002
  4.5000000e+000  1.9978594e-001  1.8322541e-001  1.7744771e-001  1.6466235e-001  6.5684027e-002  6.1671292e-002
  4.6000000e+000  1.9545655e-001  1.7957909e-001  1.6983662e-001  1.5783996e-001  6.1502041e-002  5.7816836e-002
  4.7000000e+000  1.9131014e-001  1.7607469e-001  1.6270395e-001  1.5143291e-001  5.7667243e-002  5.4277030e-002
  4.8000000e+000  1.8733539e-001  1.7270408e-001  1.5601056e-001  1.4540816e-001  5.4144394e-002  5.1020408e-002
  4.9000000e+000  1.8352194e-001  1.6945978e-001  1.4972117e-001  1.3973589e-001  5.0902455e-002  4.8019208e-002
  5.0000000e+000  1.7986020e-001  1.6633484e-001  1.4380401e-001  1.3438914e-001  4.7914010e-002  4.5248869e-002
  5.1000000e+000  1.7634133e-001  1.6332280e-001  1.3823031e-001  1.2934346e-001  4.5154790e-002  4.2687612e-002
  5.2000000e+000  1.7295718e-001  1.6041767e-001  1.3297407e-001  1.2457668e-001  4.2603256e-002  4.0316078e-002
  5.3000000e+000  1.6970017e-001  1.5761387e-001  1.2801166e-001  1.2006861e-001  4.0240250e-002  3.8117019e-002
  5.4000000e+000  1.6656330e-001  1.5490620e-001  1.2332162e-001  1.1580087e-001  3.8048693e-002  3.6075036e-002
  5.5000000e+000  1.6354006e-001  1.5228982e-001  1.1888441e-001  1.1175666e-001  3.6013327e-002  3.4176350e-002
  5.6000000e+000  1.6062441e-001  1.4976018e-001  1.1468220e-001  1.0792066e-001  3.4120494e-002  3.2408608e-002
  5.7000000e+000  1.5781073e-001  1.4731305e-001  1.1069872e-001  1.0427882e-001  3.2357943e-002  3.0760712e-002
  5.8000000e+000  1.5509376e-001  1.4494448e-001  1.0691905e-001  1.0081823e-001  3.0714661e-002  2.9222677e-002
  5.9000000e+000  1.5246863e-001  1.4265074e-001  1.0332955e-001  9.7527091e-002  2.9180737e-002  2.7785496e-002
  6.0000000e+000  1.4993075e-001  1.4042834e-001  9.9917687e-002  9.4394500e-002  2.7747228e-002  2.6441036e-002
  6.1000000e+000  1.4747587e-001  1.3827403e-001  9.6671935e-002  9.1410440e-002  2.6406056e-002  2.5181940e-002
  6.2000000e+000  1.4509997e-001  1.3618472e-001  9.3581698e-002  8.8565668e-002  2.5149907e-002  2.4001536e-002
  6.3000000e+000  1.4279933e-001  1.3415751e-001  9.0637205e-002  8.5851648e-002  2.3972154e-002  2.2893773e-002
  6.4000000e+000  1.4057042e-001  1.3218969e-001  8.7829442e-002  8.3260490e-002  2.2866778e-002  2.1853147e-002
  6.5000000e+000  1.3840996e-001  1.3027868e-001  8.5150080e-002  8.0784887e-002  2.1828305e-002  2.0874648e-002
  6.6000000e+000  1.3631482e-001  1.2842206e-001  8.2591413e-002  7.8418070e-002  2.0851754e-002  1.9953707e-002
  6.7000000e+000  1.3428212e-001  1.2661755e-001  8.0146305e-002  7.6153758e-002  1.9932577e-002  1.9086155e-002
  6.8000000e+000  1.3230909e-001  1.2486299e-001  7.7808139e-002  7.3986116e-002  1.9066624e-002  1.8268177e-002
  6.9000000e+000  1.3039315e-001  1.2315633e-001  7.5570771e-002  7.1909719e-002  1.8250100e-002  1.7496282e-002
  7.0000000e+000  1.2853186e-001  1.2149564e-001  7.3428495e-002  6.9919517e-002  1.7479528e-002  1.6767270e-002
  7.1000000e+000  1.2672292e-001  1.1987909e-001  7.1375999e-002  6.8010805e-002  1.6751723e-002  1.6078204e-002
  7.2000000e+000  1.2496416e-001  1.1830495e-001  6.9408338e-002  6.6179193e-002  1.6063758e-002  1.5426385e-002
  7.3000000e+000  1.2325351e-001  1.1677157e-001  6.7520905e-002  6.4420585e-002  1.5412946e-002  1.4809330e-002
  7.4000000e+000  1.2158903e-001  1.1527738e-001  6.5709398e-002  6.2731152e-002  1.4796813e-002  1.4224751e-002
  7.5000000e+000  1.1996889e-001  1.1382092e-001  6.3969800e-002  6.1107314e-002  1.4213080e-002  1.3670540e-002
  7.6000000e+000  1.1839132e-001  1.1240076e-001  6.2298357e-002  5.9545717e-002  1.3659645e-002  1.3144750e-002
  7.7000000e+000  1.1685468e-001  1.1101557e-001  6.0691556e-002  5.8043223e-002  1.3134569e-002  1.2645582e-002
  7.8000000e+000  1.1535740e-001  1.0966407e-001  5.9146108e-002  5.6596884e-002  1.2636059e-002  1.2171373e-002
  7.9000000e+000  1.1389798e-001  1.0834505e-001  5.7658930e-002  5.5203938e-002  1.2162455e-002  1.1720581e-002
  8.0000000e+000  1.1247501e-001  1.0705736e-001  5.6227130e-002  5.3861789e-002  1.1712223e-002  1.1291780e-002
  8.1000000e+000  1.1108714e-001  1.0579989e-001  5.4847993e-002  5.2567996e-002  1.1283937e-002  1.0883643e-002
  8.2000000e+000  1.0973309e-001  1.0457160e-001  5.3518969e-002  5.1320264e-002  1.0876278e-002  1.0494941e-002
  8.3000000e+000  1.0841163e-001  1.0337147e-001  5.2237659e-002  5.0116432e-002  1.0488019e-002  1.0124532e-002
  8.4000000e+000  1.0712161e-001  1.0219855e-001  5.1001808e-002  4.8954466e-002  1.0118019e-002  9.7713504e-003
  8.5000000e+000  1.0586191e-001  1.0105194e-001  4.9809291e-002  4.7832445e-002  9.7652184e-003  9.4344073e-003
  8.6000000e+000  1.0463149e-001  9.9930743e-002  4.8658106e-002  4.6748560e-002  9.4286287e-003  9.1127798e-003
  8.7000000e+000  1.0342933e-001  9.8834138e-002  4.7546365e-002  4.5701102e-002  9.1073298e-003  8.8056074e-003
  8.8000000e+000  1.0225447e-001  9.7761321e-002  4.6472288e-002  4.4688458e-002  8.8004633e-003  8.5120872e-003
  8.9000000e+000  1.0110599e-001  9.6711528e-002  4.5434191e-002  4.3709100e-002  8.5072279e-003  8.2314689e-003
  9.0000000e+000  9.9983018e-002  9.5684026e-002  4.4430488e-002  4.2761586e-002  8.2268753e-003  7.9630514e-003
  9.1000000e+000  9.8884707e-002  9.4678113e-002  4.3459674e-002  4.1844551e-002  7.9587058e-003  7.7061788e-003
  9.2000000e+000  9.7810256e-002  9.3693116e-002  4.2520329e-002  4.0956701e-002  7.7020648e-003  7.4602369e-003
  9.3000000e+000  9.6758896e-002  9.2728389e-002  4.1611108e-002  4.0096810e-002  7.4563394e-003  7.2246505e-003
  9.4000000e+000  9.5729891e-002  9.1783315e-002  4.0730737e-002  3.9263718e-002  7.2209556e-003  6.9988802e-003
  9.5000000e+000  9.4722536e-002  9.0857298e-002  3.9878007e-002  3.8456321e-002  6.9953750e-003  6.7824200e-003
  9.6000000e+000  9.3736156e-002  8.9949769e-002  3.9051775e-002  3.7673575e-002  6.7790926e-003  6.5747949e-003
  9.7000000e+000  9.2770101e-002  8.9060179e-002  3.8250954e-002  3.6914485e-002  6.5716343e-003  6.3755587e-003
  9.8000000e+000  9.1823751e-002  8.8188002e-002  3.7474512e-002  3.6178108e-002  6.3725546e-003  6.1842919e-003
  9.9000000e+000  9.0896509e-002  8.7332733e-002  3.6721470e-002  3.5463546e-002  6.1814349e-003  6.0006001e-003
  1.0000000e+001  8.9987801e-002  8.6493885e-002  3.5990898e-002  3.4769948e-002  5.9978813e-003  5.8241118e-003