hkal.txt

无人机高度基于matlab卡尔曼滤波程序 数据融合

123813	9.815978	-25.032747	8.850595	0.000000	
123814	8.280557	-21.061947	8.850595	0.000000	
123815	6.971190	-17.721648	8.850595	0.000000	
123816	5.866342	-14.911214	8.850595	0.000000	
123817	4.936145	-12.546501	8.850595	0.000000	
123818	4.153364	-10.556802	8.850595	0.000000	
123819	3.494704	-8.882642	8.850595	0.000000	
123820	2.940494	-7.473981	8.850595	0.000000	
123821	2.474173	-6.288713	8.850595	0.000000	
123822	2.081804	-5.291412	8.850595	0.000000	
123823	1.751659	-4.452269	8.850595	0.000000	
123824	1.473871	-3.746202	8.850595	0.000000	
123825	1.240136	-3.152107	8.850595	0.000000	
123826	1.043468	-2.652228	8.850595	0.000000	
123827	0.622060	-2.401767	8.850595	-1.000000	
123828	0.477509	-2.181540	8.850595	-1.000000	
123829	0.649479	-1.824391	8.850595	0.000000	
123830	0.590905	-1.533062	8.850595	0.000000	
123831	0.505164	-1.289580	8.850595	0.000000	
123832	0.426481	-1.085006	8.850595	0.000000	
123833	0.359103	-0.912928	8.850595	0.000000	
123834	0.302201	-0.768149	8.850595	0.000000	
123835	0.254284	-0.646331	8.850595	0.000000	
123836	0.213960	-0.543832	8.850595	0.000000	
123837	0.180029	-0.457588	8.850595	0.000000	
123838	0.151479	-0.385021	8.850595	0.000000	
123839	0.127457	-0.323962	8.850595	0.000000	
123840	0.107244	-0.272586	8.850595	0.000000	
123841	0.090236	-0.229358	8.850595	0.000000	
123842	0.075926	-0.192985	8.850595	0.000000	
123843	0.063885	-0.162380	8.850595	0.000000	
123844	0.053754	-0.136629	8.850595	0.000000	
123845	-0.210699	-0.285107	8.850595	-1.000000	
123846	0.032743	-0.230407	8.850595	0.000000	
123847	0.065219	-0.192166	8.850595	0.000000	
123848	0.061632	-0.161386	8.850595	0.000000	
123849	0.053069	-0.135738	8.850595	0.000000	
123850	0.044871	-0.114202	8.850595	0.000000	
123851	0.037794	-0.096089	8.850595	0.000000	
123852	-0.224121	-0.250996	8.850595	-1.000000	
123853	-0.234479	-0.371850	8.850595	-1.000000	
123854	-0.205526	-0.471838	8.850595	-1.000000	
123855	0.081520	-0.385518	8.850595	0.000000	
123856	0.114228	-0.322320	8.850595	0.000000	
123857	0.104298	-0.270835	8.850595	0.000000	
123858	0.089226	-0.227818	8.850595	0.000000	
123859	0.075339	-0.191677	8.850595	0.000000	
123860	0.063439	-0.161278	8.850595	0.000000	
123861	0.053387	-0.135701	8.850595	0.000000	
123862	0.044922	-0.114181	8.850595	0.000000	
123863	0.037798	-0.096073	8.850595	0.000000	
123864	0.031804	-0.080837	8.850595	0.000000	
123865	0.026760	-0.068018	8.850595	0.000000	
123866	0.022516	-0.057231	8.850595	0.000000	
123867	-0.236983	-0.218300	8.850595	-1.000000	
123868	-0.245302	-0.344340	8.850595	-1.000000	
123869	0.041296	-0.278545	8.850595	0.000000	
123870	0.079171	-0.232365	8.850595	0.000000	
123871	0.074583	-0.195156	8.850595	0.000000	
123872	0.064185	-0.164142	8.850595	0.000000	
123873	0.054262	-0.138100	8.850595	0.000000	
123874	0.045703	-0.116197	8.850595	0.000000	
123875	0.038463	-0.097770	8.850595	0.000000	
123876	-0.223564	-0.252410	8.850595	-1.000000	
123877	0.021918	-0.202895	8.850595	0.000000	
123878	0.056111	-0.169017	8.850595	0.000000	
123879	0.053969	-0.141909	8.850595	0.000000	
123880	0.046622	-0.119349	8.850595	0.000000	
123881	-0.216483	-0.270557	8.850595	-1.000000	
123882	-0.228014	-0.388308	8.850595	-1.000000	
123883	-0.200080	-0.485685	8.850595	-1.000000	
123884	0.086104	-0.397170	8.850595	0.000000	
123885	0.118085	-0.332123	8.850595	0.000000	
123886	0.107543	-0.279083	8.850595	0.000000	
123887	0.091956	-0.234758	8.850595	0.000000	
123888	0.077637	-0.197517	8.850595	0.000000	
123889	0.065372	-0.166192	8.850595	0.000000	
123890	0.055013	-0.139836	8.850595	0.000000	
123891	0.046290	-0.117660	8.850595	0.000000	
123892	0.038950	-0.099000	8.850595	0.000000	
123893	0.032773	-0.083300	8.850595	0.000000	
123894	0.027576	-0.070090	8.850595	0.000000	
123895	0.023202	-0.058975	8.850595	0.000000	
123896	0.019523	-0.049622	8.850595	0.000000	
123897	0.016427	-0.041753	8.850595	0.000000	
123898	0.013822	-0.035131	8.850595	0.000000	
123899	-0.244299	-0.199705	8.850595	-1.000000	
123900	0.004471	-0.158549	8.850595	0.000000	
123901	-0.214498	-0.301849	8.850595	-1.000000	
123902	-0.219627	-0.414334	8.850595	-1.000000	
123903	-0.191818	-0.507529	8.850595	-1.000000	
123904	-0.162657	-0.585685	8.850595	-1.000000	
123905	-0.137088	-0.651400	8.850595	-1.000000	
123906	-0.115388	-0.706685	8.850595	-1.000000	
123907	-0.097096	-0.753201	8.850595	-1.000000	
123908	-0.081700	-0.792340	8.850595	-1.000000	
123909	-0.068743	-0.825272	8.850595	-1.000000	
123910	-0.057842	-0.852981	8.850595	-1.000000	
123911	-0.048669	-0.876296	8.850595	-1.000000	
123912	0.214978	-0.725769	8.850595	0.000000	
123913	-0.029142	-0.778744	8.850595	-1.000000	
123914	0.193739	-0.645388	8.850595	0.000000	
123915	-0.053769	-0.711416	8.850595	-1.000000	
123916	-0.084122	-0.758937	8.850595	-1.000000	
123917	-0.077754	-0.797481	8.850595	-1.000000	
123918	-0.066674	-0.829654	8.850595	-1.000000	
123919	-0.056325	-0.856679	8.850595	-1.000000	
123920	-0.047433	-0.879409	8.850595	-1.000000	
123921	-0.039918	-0.898534	8.850595	-1.000000	
123922	-0.033589	-0.914625	8.850595	-1.000000	
123923	-0.028262	-0.928164	8.850595	-1.000000	
123924	0.232148	-0.769411	8.850595	0.000000	
123925	-0.014695	-0.815465	8.850595	-1.000000	
123926	-0.050033	-0.846431	8.850595	-1.000000	
123927	-0.048854	-0.871090	8.850595	-1.000000	
123928	-0.042318	-0.891588	8.850595	-1.000000	
123929	-0.291753	-1.078936	8.850595	-2.000000	
123930	0.220432	-0.886788	8.850595	0.000000	
123931	0.013108	-0.912527	8.850595	-1.000000	
123932	-0.019884	-0.927795	8.850595	-1.000000	
123933	-0.022275	-0.939496	8.850595	-1.000000	
123934	-0.019737	-0.949136	8.850595	-1.000000	
123935	-0.016785	-0.957211	8.850595	-1.000000	
123936	-0.014156	-0.963998	8.850595	-1.000000	
123937	-0.267845	-1.139852	8.850595	-2.000000	
123938	-0.271270	-1.278333	8.850595	-2.000000	
123939	0.019445	-1.223006	8.850595	-1.000000	
123940	0.060786	-1.185634	8.850595	-1.000000	
123941	0.315042	-0.985690	8.850595	0.000000	
123942	0.056482	-0.997381	8.850595	-1.000000	
123943	0.010113	-0.999486	8.850595	-1.000000	
123944	0.257728	-0.829726	8.850595	0.000000	
123945	0.005624	-0.866269	8.850595	-1.000000	
123946	-0.033152	-0.889188	8.850595	-1.000000	
123947	-0.034689	-0.907068	8.850595	-1.000000	
123948	-0.030406	-0.921861	8.850595	-1.000000	
123949	-0.025803	-0.934262	8.850595	-1.000000	
123950	-0.021750	-0.944689	8.850595	-1.000000	
123951	-0.018308	-0.953461	8.850595	-1.000000	
123952	-0.015406	-0.960842	8.850595	-1.000000	
123953	-0.012963	-0.967052	8.850595	-1.000000	
123954	0.245021	-0.802132	8.850595	0.000000	
123955	0.507994	-0.502707	8.850595	1.000000	
123956	-0.030291	-0.602244	8.850595	-1.000000	
123957	0.148349	-0.498885	8.850595	0.000000	
123958	0.156000	-0.418361	8.850595	0.000000	
123959	0.136852	-0.351762	8.850595	0.000000	
123960	-0.139776	-0.466077	8.850595	-1.000000	
123961	-0.163331	-0.552815	8.850595	-1.000000	
123962	-0.145629	-0.624103	8.850595	-1.000000	
123963	-0.124005	-0.683781	8.850595	-1.000000	
123964	-0.104603	-0.733941	8.850595	-1.000000	
123965	0.167867	-0.605991	8.850595	0.000000	
123966	0.187138	-0.507817	8.850595	0.000000	
123967	-0.090237	-0.597057	8.850595	-1.000000	
123968	-0.120352	-0.662965	8.850595	-1.000000	
123969	-0.109233	-0.716774	8.850595	-1.000000	
123970	-0.093339	-0.761754	8.850595	-1.000000	
123971	0.177135	-0.629403	8.850595	0.000000	
123972	-0.061030	-0.697663	8.850595	-1.000000	
123973	-0.089028	-0.747311	8.850595	-1.000000	
123974	0.174262	-0.617544	8.850595	0.000000	
123975	-0.064613	-0.687737	8.850595	-1.000000	
123976	-0.092252	-0.738968	8.850595	-1.000000	
123977	-0.084417	-0.780671	8.850595	-1.000000	
123978	-0.072249	-0.815509	8.850595	-1.000000	
123979	-0.061010	-0.844776	8.850595	-1.000000	
123980	-0.051373	-0.869394	8.850595	-1.000000	
123981	-0.043233	-0.890107	8.850595	-1.000000	
123982	-0.036378	-0.907534	8.850595	-1.000000	
123983	-0.030610	-0.922198	8.850595	-1.000000	
123984	-0.281684	-1.104681	8.850595	-2.000000	
123985	-0.026985	-1.078594	8.850595	-1.000000	
123986	0.014963	-1.064429	8.850595	-1.000000	
123987	0.019346	-1.053906	8.850595	-1.000000	
123988	0.017490	-1.045303	8.850595	-1.000000	
123989	0.014933	-1.038109	8.850595	-1.000000	
123990	0.268533	-0.861919	8.850595	0.000000	
123991	0.015926	-0.893302	8.850595	-1.000000	
123992	0.487591	-0.571634	8.850595	1.000000	
123993	0.495312	-0.318554	8.850595	1.000000	
123994	0.432015	-0.108761	8.850595	1.000000	
123995	0.110311	-0.102949	8.850595	0.000000	
123996	0.047407	-0.088673	8.850595	0.000000	
123997	-0.224184	-0.245124	8.850595	-1.000000	
123998	-0.235993	-0.366976	8.850595	-1.000000	
123999	-0.207062	-0.467748	8.850595	-1.000000	
124000	-0.175749	-0.552224	8.850595	-1.000000	
124001	-0.148151	-0.623248	8.850595	-1.000000	
124002	-0.124705	-0.682997	8.850595	-1.000000	
124003	-0.360866	-0.903415	8.850595	-2.000000	
124004	0.162317	-0.739101	8.850595	0.000000	
124005	-0.035784	-0.788261	8.850595	-1.000000	
124006	-0.061022	-0.823236	8.850595	-1.000000	
124007	-0.056889	-0.851518	8.850595	-1.000000	
124008	0.207067	-0.704965	8.850595	0.000000	
124009	0.219952	-0.591103	8.850595	0.000000	
124010	0.193271	-0.496992	8.850595	0.000000	
124011	0.164092	-0.418110	8.850595	0.000000	
124012	0.138333	-0.351791	8.850595	0.000000	
124013	-0.139486	-0.466145	8.850595	-1.000000	
124014	0.348599	-0.212590	8.850595	1.000000	
124015	0.376887	-0.016516	8.850595	1.000000	
124016	0.332107	0.145366	8.850595	1.000000	
124017	0.026199	0.110876	8.850595	0.000000	
124018	-0.023375	0.091241	8.850595	0.000000	
124019	-0.027814	0.076404	8.850595	0.000000	
124020	0.231065	0.234366	8.850595	1.000000	
124021	-0.015869	0.187701	8.850595	0.000000	
124022	-0.051068	0.156231	8.850595	0.000000	
124023	-0.049733	0.131149	8.850595	0.000000	
124024	-0.043059	0.110296	8.850595	0.000000	
124025	0.219480	0.262940	8.850595	1.000000	
124026	-0.025393	0.211754	8.850595	0.000000	
124027	-0.314970	0.006326	8.850595	-1.000000	
124028	0.194179	0.184648	8.850595	1.000000	
124029	0.245742	0.317671	8.850595	1.000000	
124030	0.221542	0.426546	8.850595	1.000000	
124031	-0.066871	0.347463	8.850595	0.000000	
124032	0.154237	0.460453	8.850595	1.000000	
124033	-0.088398	0.377578	8.850595	0.000000	
124034	-0.113509	0.315932	8.850595	0.000000	
124035	0.153403	0.435658	8.850595	1.000000	
124036	0.173717	0.527171	8.850595	1.000000	
124037	-0.101754	0.432371	8.850595	0.000000	
124038	0.125847	0.531940	8.850595	1.000000	
124039	-0.112113	0.437736	8.850595	0.000000	
124040	-0.133433	0.366551	8.850595	0.000000	
124041	-0.631142	-0.032185	8.850595	-2.000000	
124042	-0.624111	-0.348456	8.850595	-2.000000	
124043	-0.285897	-0.440976	8.850595	-1.000000	
124044	0.058278	-0.357547	8.850595	0.000000	
124045	0.102632	-0.298424	8.850595	0.000000	
124046	0.095969	-0.250664	8.850595	0.000000	
124047	-0.173455	-0.380979	8.850595	-1.000000	
124048	-0.191539	-0.481207	8.850595	-1.000000	
124049	-0.169341	-0.563849	8.850595	-1.000000	
124050	0.111976	-0.462938	8.850595	0.000000	
124051	0.395785	-0.217316	8.850595	1.000000	
124052	0.684339	-0.332734	8.850595	0.000000	
124053	0.215803	-0.296227	8.850595	0.000000	
124054	0.117012	-0.252166	8.850595	0.000000	
124055	0.384109	-0.523609	8.850595	-1.000000	
124056	0.504570	-0.756714	8.850595	-1.000000	
124057	0.331297	-1.123842	8.850595	-2.000000	
124058	0.904033	-1.083124	8.850595	0.000000	
124059	1.002953	-1.066162	8.850595	0.000000	
124060	1.017496	-1.054991	8.850595	0.000000	
124061	0.761485	-1.216294	8.850595	-1.000000	
124062	1.562983	-1.313250	8.850595	0.000000	
124063	1.996739	-1.247112	8.850595	1.000000	
124064	1.806692	-1.375116	8.850595	0.000000	
124065	2.612261	-1.446377	8.850595	1.000000	
124066	2.784289	-1.529182	8.850595	1.000000	
124067	3.094252	-1.432806	8.850595	2.000000	
124068	3.384690	-1.191791	8.850595	3.000000	
124069	4.187545	-0.970936	8.850595	4.000000	
124070	4.284294	-0.811246	8.850595	4.000000	
124071	4.517824	-0.511424	8.850595	5.000000	
124072	4.485674	-0.269477	8.850595	5.000000	
124073	4.714849	-0.378661	8.850595	4.000000	
124074	5.042472	-0.305856	8.850595	5.000000	
124075	5.086386	-0.255064	8.850595	5.000000	
124076	5.634932	-0.354969	8.850595	5.000000	
124077	5.765223	-0.453992	8.850595	5.000000	
124078	5.815440	-0.539994	8.850595	5.000000	
124079	6.102966	-0.442695	8.850595	6.000000	
124080	6.132955	-0.370398	8.850595	6.000000	
124081	6.929269	-0.281902	8.850595	7.000000	
124082	7.314572	-0.061715	8.850595	8.000000	
124083	7.331778	0.109688	8.850595	8.000000