data.txt

kalman滤波程序

a=[3,0,0,0
125884.367188,139542.437500,7052.737305,-140.625015
145958.593750,201272.734375,4838.596680,-117.187508
172285.484375,282570.437500,2037.480347,175.762497
3,0,0,0
125886.273438,139541.593750,7046.554688,-140.625015
145969.015625,201269.296875,4837.604980,-117.187508
172286.875000,282569.687500,2028.218506,175.762497
3,0,0,0
125883.250000,139542.609375,7047.472168,-140.625015
145967.531250,201269.984375,4843.201172,-117.187508
172278.437500,282572.250000,2023.420044,175.762497
3,0,0,0
125881.421875,139543.203125,7047.392578,-140.625015
145967.656250,201269.906250,4842.351074,-117.187508
172279.859375,282572.281250,2036.921997,175.762497
3,0,0,0
125883.203125,139542.468750,7043.124512,-140.625015
145974.765625,201267.234375,4832.362793,-117.187508
172294.843750,282567.468750,2038.930908,175.762497
3,0,0,0
125887.703125,139540.968750,7042.526367,-140.625015
145975.640625,201266.515625,4820.674316,-117.187508
172312.750000,282563.031250,2077.762939,175.762497
1,0,0,0
125894.828125,139540.046875,7079.860352,-140.625015
1,0,0,0
125906.734375,139535.250000,7055.170410,-140.625015
3,0,0,0
125880.164063,139543.437500,7042.805664,-140.625015
145975.468750,201267.562500,4847.734863,-117.187508
172271.578125,282574.218750,2016.167114,175.762497
3,0,0,0
125851.023438,139554.312500,7080.737793,-140.625015
145911.046875,201287.343750,4815.928223,-117.187508
112091.476563,97210.921875,8634.258789,175.762497
3,0,0,0
125885.718750,139541.687500,7044.440918,-140.625015
145972.437500,201267.656250,4823.083008,-117.187508
172308.640625,282562.656250,2029.222412,175.762497
3,0,0,0
125885.125000,139541.937500,7045.916504,-140.625015
145970.015625,201268.687500,4829.883789,-117.187508
172298.796875,282567.000000,2061.694580,175.762497
3,0,0,0
125880.312500,139543.500000,7045.916504,-140.625015
145970.156250,201269.109375,4842.705566,-117.187508
172279.609375,282573.312500,2063.591064,175.762497
2,0,0,0
125885.695313,139541.875000,7049.107422,-140.625015
145964.734375,201270.750000,4839.305176,-117.187508
3,0,0,0
125886.171875,139541.546875,7044.680176,-140.625015
145972.109375,201268.015625,4830.379395,-117.187508
172298.250000,282567.875000,2080.552490,175.762497
3,0,0,0
125881.632813,139543.171875,7048.628906,-140.625015
145965.453125,201270.218750,4831.017090,-117.187508
172296.984375,282567.187500,2050.870605,175.762497];

2
125882.890625,139542.687500,7046.355469,-140.625015
145969.421875,201269.390625,4844.405762,-117.187508

3
125886.187500,139541.734375,7049.586426,-140.625015
145963.859375,201270.812500,4832.717285,-117.187508
172294.546875,282568.406250,2062.251953,175.762497

3
125885.171875,139541.953125,7046.913574,-140.625015
145968.421875,201269.500000,4837.675781,-117.187508
172286.843750,282569.937500,2034.690796,175.762497

3
125879.390625,139543.906250,7048.270020,-140.625015
145966.234375,201270.562500,4847.310059,-117.187508
172272.406250,282574.625000,2034.690796,175.762497

3
125881.859375,139543.093750,7048.429199,-140.625015
145965.875000,201270.390625,4839.446777,-117.187508
172284.156250,282570.718750,2032.905273,175.762497

3
125882.906250,139542.718750,7047.272949,-140.625015
145967.765625,201269.562500,4833.708984,-117.187508
172292.921875,282568.437500,2048.526855,175.762497

1
125962.765625,139516.671875,7046.913574,-140.625015

1
125954.679688,139519.281250,7045.757324,-140.625015

3
125879.195313,139543.968750,7048.389648,-140.625015
145965.921875,201270.281250,4836.967285,-117.187508
172287.890625,282569.593750,2034.913208,175.762497

3
125883.937500,139542.531250,7051.341309,-140.625015
145960.937500,201271.921875,4837.250977,-117.187508
172287.531250,282569.875000,2039.934937,175.762497

3
125880.828125,139543.187500,7041.688965,-140.625015
145977.218750,201266.531250,4834.770996,-117.187508
172291.390625,282569.156250,2054.664063,175.762497

3
125882.265625,139543.078125,7051.580566,-140.625015
145960.484375,201271.921875,4833.071289,-117.187508
172294.015625,282568.562500,2061.359619,175.762497

2
125885.414063,139541.921875,7047.950684,-140.625015
145966.578125,201269.781250,4829.670898,-117.187508

3
125882.976563,139542.531250,7042.885254,-140.625015
145975.234375,201267.296875,4838.242676,-117.187508
172286.296875,282571.156250,2063.926025,175.762497

3
125878.828125,139543.984375,7045.956543,-140.625015
145970.078125,201269.078125,4840.863770,-117.187508
172282.406250,282572.562500,2068.724365,175.762497

3
125883.039063,139542.734375,7049.027832,-140.625015
145964.812500,201270.578125,4834.983887,-117.187508
172290.859375,282568.531250,2032.458618,175.762497

3
125880.671875,139543.468750,7047.831543,-140.625015
145966.796875,201269.781250,4831.087402,-117.187508
172296.718750,282566.750000,2035.583130,175.762497

3
125885.632813,139541.687500,7043.443848,-140.625015
145974.281250,201267.578125,4837.321777,-117.187508
172287.187500,282569.187500,2017.282715,175.762497

3
125885.625000,139541.656250,7042.726074,-140.625015
145975.531250,201267.328125,4841.430176,-117.187508
172281.093750,282571.375000,2023.196777,175.762497

3
125884.414063,139542.062500,7042.845703,-140.625015
145975.250000,201267.171875,4834.770996,-117.187508
172291.437500,282569.250000,2057.900146,175.762497

3
125888.601563,139540.890625,7048.030762,-140.625015
145966.484375,201269.968750,4833.212891,-117.187508
172294.125000,282569.593750,2091.934814,175.762497

1
125877.796875,139545.968750,7090.709473,-140.625015

3
125877.851563,139544.343750,7046.834473,-140.625015
145968.531250,201269.390625,4836.187988,-117.187508
172289.281250,282569.843750,2054.664063,175.762497

3
125883.890625,139542.140625,7040.372559,-140.625015
145979.421875,201265.750000,4833.071289,-117.187508
172293.843750,282568.000000,2044.621582,175.762497

2
125887.046875,139541.515625,7051.420898,-140.625015
145960.921875,201272.328125,4848.230957,-117.187508

2
125884.132813,139542.234375,7045.198730,-140.625015
145971.359375,201268.671875,4841.359375,-117.187508

2
125884.289063,139542.328125,7048.588867,-140.625015
145965.578125,201270.390625,4836.684082,-117.187508

3
125882.781250,139542.718750,7046.275879,-140.625015
145969.531250,201269.234375,4840.721680,-117.187508
172282.531250,282572.187500,2059.462402,175.762497

1
125887.382813,139542.562500,7082.452637,-140.625015

3
125851.023438,139554.312500,7080.737793,-140.625015
145911.031250,201287.265625,4812.881836,-117.187508
172368.171875,282693.875000,1829.722656,175.762497

3
125882.742188,139542.734375,7046.515137,-140.625015
145969.000000,201268.968750,4828.608398,-117.187508
172300.593750,282566.000000,2050.759033,175.762497

3
125882.554688,139542.671875,7043.004883,-140.625015
145974.937500,201267.093750,4829.954590,-117.187508
172298.734375,282567.187500,2066.381348,175.762497

1
125877.328125,139546.062500,7088.914551,-140.625015

2
125888.367188,139540.812500,7043.762695,-140.625015
172415.734375,282518.531250,1774.251587,175.762497

3
125883.132813,139542.640625,7047.591797,-140.625015
145967.281250,201269.906250,4838.454590,-117.187508
172285.796875,282570.718750,2047.411133,175.762497

3
125886.554688,139541.562500,7048.150391,-140.625015
145966.265625,201269.953125,4830.875488,-117.187508
172297.406250,282567.812500,2071.960449,175.762497

3
125884.921875,139541.828125,7041.130371,-140.625015
145978.187500,201266.328125,4838.242676,-117.187508
172286.359375,282571.343750,2070.509766,175.762497

3
125880.656250,139543.281250,7042.765625,-140.625015
145975.453125,201267.312500,4841.217285,-117.187508
172281.593750,282571.843750,2041.050537,175.762497

3
125888.039063,139541.078125,7048.310059,-140.625015
145965.953125,201269.937500,4828.324707,-117.187508
172301.078125,282566.093750,2056.449707,175.762497

3
125887.421875,139541.265625,7047.831543,-140.625015
145966.921875,201270.171875,4842.492676,-117.187508
172279.593750,282572.218750,2032.793579,175.762497

3
125878.781250,139544.234375,7052.019043,-140.625015
145959.843750,201272.468750,4842.847168,-117.187508
172279.156250,282572.656250,2041.608765,175.762497

3
125884.867188,139542.031250,7046.116211,-140.625015
145969.718750,201268.906250,4832.788086,-117.187508
172294.375000,282568.218750,2055.557373,175.762497

3
125884.296875,139542.359375,7049.825684,-140.625015
145963.500000,201271.109375,4838.171875,-117.187508
172286.093750,282570.125000,2033.797607,175.762497

3
125882.906250,139542.593750,7043.802734,-140.625015
145973.578125,201267.515625,4829.458496,-117.187508
172299.140625,282565.906250,2034.244141,175.762497

3
125886.117188,139541.765625,7049.945313,-140.625015
145963.296875,201271.171875,4838.101074,-117.187508
172286.296875,282570.437500,2044.398315,175.762497

3
125885.750000,139541.671875,7044.041992,-140.625015
145973.359375,201268.171875,4845.539063,-117.187508
172275.296875,282574.468750,2057.007813,175.762497

3
125885.796875,139541.937500,7051.899414,-140.625015
145960.078125,201272.500000,4845.750977,-117.187508
172274.984375,282574.593750,2057.565186,175.762497

3
125883.929688,139542.515625,7051.141602,-140.625015
145961.140625,201271.406250,4825.420898,-117.187508
172305.218750,282564.031250,2036.698730,175.762497

3
125880.562500,139543.500000,7047.911133,-140.625015
145966.656250,201269.828125,4831.229492,-117.187508
172296.359375,282566.375000,2021.634521,175.762497

3
125885.039063,139541.921875,7044.720215,-140.625015
145972.031250,201268.031250,4829.529297,-117.187508
172299.421875,282567.125000,2070.844727,175.762497

3
125882.398438,139542.828125,7045.757324,-140.625015
145970.453125,201269.109375,4845.184570,-117.187508
172275.515625,282573.375000,2028.218506,175.762497

3
125884.890625,139541.718750,7037.899902,-140.625015
145983.578125,201264.359375,4832.150391,-117.187508
172295.109375,282567.218750,2033.574219,175.762497

1
125882.820313,139544.531250,7095.695801,-140.625015

1
125885.359375,139542.531250,7063.825684,-140.625015

3
125880.093750,139543.484375,7043.124512,-140.625015
145974.781250,201267.312500,4834.629883,-117.187508
172291.562500,282568.937500,2050.312256,175.762497

3
125882.171875,139542.906250,7045.996582,-140.625015
145970.015625,201269.125000,4841.784668,-117.187508
172280.843750,282572.437500,2050.424072,175.762497

1
125875.601563,139546.312500,7080.538574,-140.625015

3
125883.734375,139542.437500,7046.953613,-140.625015
145968.343750,201269.484375,4836.400879,-117.187508
172288.765625,282569.375000,2036.253052,175.762497

1
125899.679688,139538.312500,7075.672363,-140.625015

1
125876.304688,139545.375000,7060.993652,-140.625015

3
125886.257813,139541.562500,7045.318359,-140.625015
145971.156250,201268.734375,4841.642578,-117.187508
172281.031250,282572.281250,2047.969482,175.762497

3
125882.242188,139542.750000,7042.327148,-140.625015
145976.187500,201267.031250,4839.588379,-117.187508
172284.203125,282571.562500,2056.561279,175.762497

1
125901.093750,139537.140625,7056.645996,-140.625015

3
125883.531250,139542.453125,7045.717285,-140.625015
145970.515625,201269.062500,4844.901367,-117.187508
172276.078125,282573.625000,2040.828125,175.762497

1
125899.148438,139538.640625,7079.820313,-140.625015

3
125880.546875,139543.593750,7050.104980,-140.625015
145962.984375,201271.140625,4834.275391,-117.187508
172291.984375,282568.406250,2038.930908,175.762497

2
125884.156250,139542.062500,7040.851074,-140.625015
145978.593750,201265.968750,4831.796387,-117.187508

3
125882.093750,139543.062500,7049.586426,-140.625015
145963.953125,201271.140625,4842.634766,-117.187508
172279.718750,282573.312500,2064.819092,175.762497

3
125883.296875,139542.625000,7048.310059,-140.625015
145966.203125,201270.687500,4850.568359,-117.187508
172267.546875,282576.281250,2036.810425,175.762497

3
125874.328125,139545.500000,7047.073242,-140.625015
145968.156250,201269.625000,4838.525879,-117.187508
172285.578125,282570.375000,2035.918091,175.762497

3
125884.601563,139542.015625,7043.204590,-140.625015
145974.656250,201267.390625,4835.479980,-117.187508
172290.140625,282568.906250,2035.806396,175.762497

1
125902.656250,139536.406250,7050.224609,-140.625015

3
125880.429688,139543.359375,7042.605957,-140.625015
145975.578125,201266.781250,4827.262695,-117.187508
172302.562500,282565.281250,2047.634521,175.762497

3
125882.750000,139542.640625,7043.483398,-140.625015
145974.187500,201267.546875,4835.621582,-117.187508
172289.984375,282569.125000,2041.385498,175.762497

3
125894.437500,139539.093750,7051.021973,-140.625015
145961.359375,201271.375000,4826.483398,-117.187508
172303.593750,282564.468750,2033.909180,175.762497

1
125873.164063,139547.718750,7097.370605,-140.625015

3
125880.054688,139543.625000,7047.033691,-140.625015
145968.156250,201269.390625,4832.433594,-117.187508
172294.718750,282567.437500,2036.921997,175.762497

3
125882.929688,139542.531250,7042.686035,-140.625015
145975.468750,201266.890625,4829.387207,-117.187508
172299.609375,282567.000000,2069.059326,175.762497

3
125879.210938,139544.125000,7053.096191,-140.625015
145958.000000,201272.953125,4839.659180,-117.187508
172284.000000,282571.281250,2047.187866,175.762497

3
125882.070313,139542.859375,7044.001953,-140.625015
145973.281250,201267.750000,4833.638184,-117.187508
172293.046875,282568.468750,2049.419922,175.762497

3
125884.851563,139542.000000,7045.039063,-140.625015
145971.500000,201268.187500,4829.175293,-117.187508
172299.921875,282566.843750,2067.720459,175.762497

3
125881.976563,139542.828125,7042.367188,-140.625015
145976.031250,201266.781250,4831.087402,-117.187508
172297.343750,282568.687500,2095.951660,175.762497

2
125881.437500,139543.109375,7045.198730,-140.625015
145971.359375,201268.671875,4841.288574,-117.187508

3
125884.359375,139542.156250,7044.799805,-140.625015
145972.125000,201268.765625,4851.276855,-117.187508
172266.671875,282577.187500,2055.333984,175.762497

3
125891.593750,139539.765625,7043.882813,-140.625015
145973.250000,201266.937500,4811.110840,-117.187508
172326.750000,282557.343750,2045.402344,175.762497

2
125882.414063,139542.890625,7047.552246,-140.625015
145967.375000,201269.937500,4840.296387,-117.187508