hkal.txt

无人机高度基于matlab卡尔曼滤波程序 数据融合

123000	0.000000	-50.000000	10.164134	-50.000000	
123001	0.000000	-50.000000	8.757565	-50.000000	
123002	0.000000	-50.000000	8.669881	-50.000000	
123003	-0.264760	-50.140617	8.991502	-51.000000	
123004	-0.269311	-50.283795	8.717751	-51.000000	
123005	-0.234988	-50.396763	8.970256	-51.000000	
123006	0.052672	-50.308808	8.751725	-50.000000	
123007	0.089717	-50.259932	8.938369	-50.000000	
123008	-0.169433	-50.398073	8.778240	-51.000000	
123009	0.071665	-50.332542	8.914048	-50.000000	
123010	0.098467	-50.276984	8.797887	-50.000000	
123011	-0.168051	-50.396807	8.896436	-51.000000	
123012	0.068191	-50.320043	8.812262	-50.000000	
123013	0.095124	-50.268256	8.883739	-50.000000	
123014	0.086784	-50.225308	8.822743	-50.000000	
123015	0.074235	-50.189538	8.874575	-50.000000	
123016	0.062680	-50.159468	8.830370	-50.000000	
123017	0.052779	-50.134177	8.867955	-50.000000	
123018	-0.210918	-50.285047	8.835916	-51.000000	
123019	-0.223334	-50.400189	8.863167	-51.000000	
123020	-0.196132	-50.495729	8.839944	-51.000000	
123021	-0.166503	-50.575758	8.859702	-51.000000	
123022	-0.140362	-50.643050	8.842869	-51.000000	
123023	-0.118150	-50.699659	8.857194	-51.000000	
123024	-0.099422	-50.747290	8.844991	-51.000000	
123025	0.172466	-50.617874	8.855377	-50.000000	
123026	-0.064737	-50.688413	8.846531	-51.000000	
123027	-0.092124	-50.739456	8.854061	-51.000000	
123028	-0.084265	-50.781090	8.847648	-51.000000	
123029	0.183918	-50.646057	8.853107	-50.000000	
123030	0.200441	-50.541485	8.848458	-50.000000	
123031	-0.079153	-50.625148	8.852416	-51.000000	
123032	-0.111035	-50.686638	8.849046	-51.000000	
123033	-0.101398	-50.736687	8.851915	-51.000000	
123034	-0.086747	-50.778510	8.849472	-51.000000	
123035	-0.073246	-50.813647	8.851552	-51.000000	
123036	-0.061676	-50.843202	8.849781	-51.000000	
123037	-0.051904	-50.868068	8.851288	-51.000000	
123038	-0.043674	-50.888991	8.850005	-51.000000	
123039	0.219201	-50.736519	8.851098	-50.000000	
123040	0.230341	-50.617634	8.850167	-50.000000	
123041	-0.053899	-50.689411	8.850959	-51.000000	
123042	-0.089776	-50.740680	8.850285	-51.000000	
123043	-0.083507	-50.782163	8.850859	-51.000000	
123044	-0.071693	-50.816774	8.850370	-51.000000	
123045	-0.060580	-50.845842	8.850786	-51.000000	
123046	-0.051019	-50.870292	8.850432	-51.000000	
123047	-0.042936	-50.890862	8.850734	-51.000000	
123048	-0.036128	-50.908170	8.850477	-51.000000	
123049	-0.030399	-50.922733	8.850696	-51.000000	
123050	-0.025578	-50.934986	8.850509	-51.000000	
123051	-0.021522	-50.945296	8.850668	-51.000000	
123052	-0.018109	-50.953972	8.850533	-51.000000	
123053	-0.015237	-50.961271	8.850648	-51.000000	
123054	-0.012821	-50.967413	8.850550	-51.000000	
123055	0.245143	-50.802441	8.850633	-50.000000	
123056	-0.003760	-50.843261	8.850562	-51.000000	
123057	-0.040832	-50.869818	8.850623	-51.000000	
123058	-0.041112	-50.890768	8.850571	-51.000000	
123059	-0.035804	-50.908146	8.850615	-51.000000	
123060	-0.030344	-50.922722	8.850578	-51.000000	
123061	-0.025570	-50.934979	8.850610	-51.000000	
123062	-0.021522	-50.945291	8.850583	-51.000000	
123063	-0.018110	-50.953967	8.850606	-51.000000	
123064	-0.015239	-50.961267	8.850586	-51.000000	
123065	-0.012822	-50.967410	8.850603	-51.000000	
123066	-0.010789	-50.972578	8.850588	-51.000000	
123067	-0.009078	-50.976927	8.850601	-51.000000	
123068	-0.007638	-50.980586	8.850590	-51.000000	
123069	-0.006427	-50.983665	8.850599	-51.000000	
123070	-0.005408	-50.986255	8.850592	-51.000000	
123071	0.251379	-50.818290	8.850598	-50.000000	
123072	0.001486	-50.856593	8.850592	-51.000000	
123073	-0.036418	-50.881037	8.850597	-51.000000	
123074	0.218530	-50.730063	8.850593	-50.000000	
123075	-0.027365	-50.782411	8.850596	-51.000000	
123076	-0.060911	-50.818629	8.850594	-51.000000	
123077	0.197882	-50.677554	8.850596	-50.000000	
123078	0.211183	-50.568085	8.850594	-50.000000	
123079	-0.070223	-50.647778	8.850596	-51.000000	
123080	0.152379	-50.535499	8.850594	-50.000000	
123081	-0.089789	-50.619008	8.850596	-51.000000	
123082	-0.114648	-50.681194	8.850594	-51.000000	
123083	-0.103479	-50.732069	8.850595	-51.000000	
123084	-0.088326	-50.774616	8.850595	-51.000000	
123085	-0.074545	-50.810369	8.850595	-51.000000	
123086	-0.062763	-50.840443	8.850595	-51.000000	
123087	0.203111	-50.695602	8.850595	-50.000000	
123088	0.216800	-50.583216	8.850595	-50.000000	
123089	0.190651	-50.490355	8.850595	-50.000000	
123090	-0.094036	-50.582670	8.850595	-51.000000	
123091	-0.124759	-50.650914	8.850595	-51.000000	
123092	-0.113159	-50.706643	8.850595	-51.000000	
123093	-0.096681	-50.753232	8.850595	-51.000000	
123094	-0.081612	-50.792378	8.850595	-51.000000	
123095	0.187212	-50.655161	8.850595	-50.000000	
123096	0.203415	-50.549189	8.850595	-50.000000	
123097	0.179387	-50.461724	8.850595	-50.000000	
123098	-0.103514	-50.558579	8.850595	-51.000000	
123099	0.123195	-50.460498	8.850595	-50.000000	
123100	0.141374	-50.385766	8.850595	-50.000000	
123101	-0.130210	-50.494429	8.850595	-51.000000	
123102	-0.154249	-50.576623	8.850595	-51.000000	
123103	-0.137802	-50.644127	8.850595	-51.000000	
123104	-0.117386	-50.700628	8.850595	-51.000000	
123105	-0.099028	-50.748116	8.850595	-51.000000	
123106	-0.083370	-50.788063	8.850595	-51.000000	
123107	0.185772	-50.651529	8.850595	-50.000000	
123108	-0.053718	-50.716278	8.850595	-51.000000	
123109	0.173061	-50.592828	8.850595	-50.000000	
123110	-0.071168	-50.667191	8.850595	-51.000000	
123111	-0.098762	-50.721726	8.850595	-51.000000	
123112	-0.090073	-50.766171	8.850595	-51.000000	
123113	0.178889	-50.633165	8.850595	-50.000000	
123114	-0.059732	-50.700836	8.850595	-51.000000	
123115	0.167961	-50.579837	8.850595	-50.000000	
123116	0.180462	-50.486115	8.850595	-50.000000	
123117	0.158863	-50.408707	8.850595	-50.000000	
123118	0.134928	-50.343835	8.850595	-50.000000	
123119	0.113756	-50.289298	8.850595	-50.000000	
123120	-0.160172	-50.413562	8.850595	-51.000000	
123121	-0.180665	-50.508636	8.850595	-51.000000	
123122	-0.160245	-50.586931	8.850595	-51.000000	
123123	0.119620	-50.482360	8.850595	-50.000000	
123124	0.146286	-50.403803	8.850595	-50.000000	
123125	-0.124657	-50.509541	8.850595	-51.000000	
123126	-0.149321	-50.589328	8.850595	-51.000000	
123127	-0.133610	-50.654814	8.850595	-51.000000	
123128	-0.113850	-50.709620	8.850595	-51.000000	
123129	-0.096051	-50.755682	8.850595	-51.000000	
123130	-0.080865	-50.794430	8.850595	-51.000000	
123131	-0.068049	-50.827030	8.850595	-51.000000	
123132	0.198670	-50.684316	8.850595	-50.000000	
123133	0.213064	-50.573720	8.850595	-50.000000	
123134	-0.068421	-50.652509	8.850595	-51.000000	
123135	-0.101995	-50.709623	8.850595	-51.000000	
123136	-0.093788	-50.756032	8.850595	-51.000000	
123137	0.175585	-50.624642	8.850595	-50.000000	
123138	-0.062544	-50.693666	8.850595	-51.000000	
123139	-0.090340	-50.743950	8.850595	-51.000000	
123140	-0.082777	-50.784861	8.850595	-51.000000	
123141	-0.070863	-50.819034	8.850595	-51.000000	
123142	-0.059843	-50.847742	8.850595	-51.000000	
123143	-0.050392	-50.871890	8.850595	-51.000000	
123144	-0.042407	-50.892207	8.850595	-51.000000	
123145	-0.035683	-50.909301	8.850595	-51.000000	
123146	-0.030025	-50.923685	8.850595	-51.000000	
123147	-0.025263	-50.935787	8.850595	-51.000000	
123148	-0.021257	-50.945971	8.850595	-51.000000	
123149	-0.017886	-50.954539	8.850595	-51.000000	
123150	-0.015049	-50.961748	8.850595	-51.000000	
123151	0.243266	-50.797670	8.850595	-50.000000	
123152	0.250588	-50.669097	8.850595	-50.000000	
123153	0.219081	-50.562616	8.850595	-50.000000	
123154	0.185814	-50.473326	8.850595	-50.000000	
123155	0.156611	-50.398252	8.850595	-50.000000	
123156	-0.124106	-50.505237	8.850595	-51.000000	
123157	-0.150317	-50.585772	8.850595	-51.000000	
123158	-0.134710	-50.651835	8.850595	-51.000000	
123159	-0.114823	-50.707116	8.850595	-51.000000	
123160	-0.096878	-50.753575	8.850595	-51.000000	
123161	0.174366	-50.622512	8.850595	-50.000000	
123162	-0.063322	-50.691862	8.850595	-51.000000	
123163	-0.090950	-50.742430	8.850595	-51.000000	
123164	-0.083283	-50.783582	8.850595	-51.000000	
123165	-0.071287	-50.817958	8.850595	-51.000000	
123166	-0.060199	-50.846837	8.850595	-51.000000	
123167	0.205237	-50.700983	8.850595	-50.000000	
123168	-0.037345	-50.757889	8.850595	-51.000000	
123169	0.186836	-50.627841	8.850595	-50.000000	
123170	-0.059577	-50.696651	8.850595	-51.000000	
123171	-0.089010	-50.746514	8.850595	-51.000000	
123172	-0.081867	-50.787028	8.850595	-51.000000	
123173	0.185794	-50.650714	8.850595	-50.000000	
123174	-0.053922	-50.715602	8.850595	-51.000000	
123175	-0.083080	-50.762407	8.850595	-51.000000	
123176	0.179261	-50.630246	8.850595	-50.000000	
123177	-0.060408	-50.698425	8.850595	-51.000000	
123178	-0.088714	-50.747961	8.850595	-51.000000	
123179	0.174488	-50.618093	8.850595	-50.000000	
123180	-0.064430	-50.688199	8.850595	-51.000000	
123181	-0.092099	-50.739357	8.850595	-51.000000	
123182	-0.084288	-50.780999	8.850595	-51.000000	
123183	-0.072140	-50.815784	8.850595	-51.000000	
123184	-0.060918	-50.845008	8.850595	-51.000000	
123185	-0.051297	-50.869589	8.850595	-51.000000	
123186	-0.043169	-50.890271	8.850595	-51.000000	
123187	-0.036324	-50.907673	8.850595	-51.000000	
123188	-0.030564	-50.922314	8.850595	-51.000000	
123189	-0.025717	-50.934634	8.850595	-51.000000	
123190	-0.021639	-50.945000	8.850595	-51.000000	
123191	-0.018207	-50.953722	8.850595	-51.000000	
123192	-0.015320	-50.961061	8.850595	-51.000000	
123193	-0.012890	-50.967237	8.850595	-51.000000	
123194	-0.010846	-50.972432	8.850595	-51.000000	
123195	0.246803	-50.806659	8.850595	-50.000000	
123196	0.253564	-50.676661	8.850595	-50.000000	
123197	-0.034344	-50.739126	8.850595	-51.000000	
123198	-0.073322	-50.782503	8.850595	-51.000000	
123199	-0.069662	-50.817355	8.850595	-51.000000	
123200	-0.060043	-50.846384	8.850595	-51.000000	
123201	0.205151	-50.700612	8.850595	-50.000000	
123202	0.218472	-50.587434	8.850595	-50.000000	
123203	-0.063879	-50.664049	8.850595	-51.000000	
123204	-0.098175	-50.719332	8.850595	-51.000000	
123205	-0.090573	-50.764202	8.850595	-51.000000	
123206	-0.077639	-50.801661	8.850595	-51.000000	
123207	0.190346	-50.662981	8.850595	-50.000000	
123208	0.206015	-50.555771	8.850595	-50.000000	
123209	-0.074361	-50.637407	8.850595	-51.000000	
123210	-0.106994	-50.696916	8.850595	-51.000000	
123211	-0.097994	-50.745340	8.850595	-51.000000	
123212	0.172046	-50.615645	8.850595	-50.000000	
123213	-0.065522	-50.686096	8.850595	-51.000000	
123214	-0.092846	-50.737580	8.850595	-51.000000	
123215	0.171043	-50.609357	8.850595	-50.000000	
123216	0.188606	-50.510703	8.850595	-50.000000	
123217	0.166710	-50.429351	8.850595	-50.000000	
123218	0.141710	-50.361197	8.850595	-50.000000	
123219	0.119494	-50.303905	8.850595	-50.000000	
123220	0.100590	-50.255708	8.850595	-50.000000	
123221	0.084647	-50.215156	8.850595	-50.000000	
123222	-0.184704	-50.351180	8.850595	-51.000000	
123223	-0.201313	-50.456147	8.850595	-51.000000	
123224	0.078308	-50.372621	8.850595	-50.000000	
123225	0.110314	-50.311522	8.850595	-50.000000	
123226	0.100787	-50.261759	8.850595	-50.000000	
123227	0.086233	-50.220183	8.850595	-50.000000	
123228	0.072814	-50.185254	8.850595	-50.000000	
123229	-0.194616	-50.326018	8.850595	-51.000000	
123230	0.046283	-50.264830	8.850595	-50.000000	
123231	0.076613	-50.221130	8.850595	-50.000000	
123232	0.071220	-50.185757	8.850595	-50.000000	
123233	-0.194792	-50.326389	8.850595	-51.000000	
123234	0.046345	-50.265132	8.850595	-50.000000	
123235	0.076703	-50.221383	8.850595	-50.000000	
123236	-0.184627	-50.356114	8.850595	-51.000000	
123237	-0.200036	-50.460244	8.850595	-51.000000	
123238	-0.176328	-50.546204	8.850595	-51.000000	
123239	-0.149802	-50.618234	8.850595	-51.000000	
123240	0.129625	-50.508644	8.850595	-50.000000	
123241	0.154923	-50.425909	8.850595	-50.000000	
123242	-0.117350	-50.528139	8.850595	-51.000000	
123243	0.112763	-50.434831	8.850595	-50.000000	
123244	0.132813	-50.364160	8.850595	-50.000000	
123245	-0.137374	-50.476247	8.850595	-51.000000	
123246	-0.160269	-50.561325	8.850595	-51.000000	
123247	-0.142866	-50.631254	8.850595	-51.000000	
123248	0.134282	-50.519652	8.850595	-50.000000	
123249	0.158629	-50.435181	8.850595	-50.000000	
123250	0.141659	-50.365798	8.850595	-50.000000	
123251	0.120662	-50.307721	8.850595	-50.000000	
123252	0.101790	-50.258909	8.850595	-50.000000	
123253	-0.170234	-50.387993	8.850595	-51.000000	
123254	-0.189129	-50.487121	8.850595	-51.000000	
123255	0.088562	-50.398683	8.850595	-50.000000	
123256	0.118942	-50.333451	8.850595	-50.000000	
123257	-0.147882	-50.450356	8.850595	-51.000000	
123258	-0.168902	-50.539530	8.850595	-51.000000	
123259	-0.150092	-50.612914	8.850595	-51.000000	
123260	-0.127720	-50.674365	8.850595	-51.000000	
123261	0.148206	-50.555873	8.850595	-50.000000	
123262	0.170558	-50.465648	8.850595	-50.000000	
123263	-0.104195	-50.561577	8.850595	-51.000000	
123264	-0.132097	-50.633111	8.850595	-51.000000	
123265	0.136813	-50.521509	8.850595	-50.000000	
123266	0.159588	-50.436797	8.850595	-50.000000	
123267	0.142256	-50.367167	8.850595	-50.000000	
123268	0.121126	-50.308875	8.850595	-50.000000	
123269	-0.153755	-50.430025	8.850595	-51.000000	
123270	0.080702	-50.352341	8.850595	-50.000000