data.txt

kalman滤波程序

3
125882.335938,139542.906250,7047.552246,-140.625015
145967.296875,201269.734375,4834.346191,-117.187508
172291.812500,282568.312500,2034.579102,175.762497

1
125896.585938,139538.484375,7053.295898,-140.625015

3
125884.445313,139542.031250,7042.327148,-140.625015
145976.171875,201266.968750,4837.675781,-117.187508
172287.000000,282570.406250,2049.419922,175.762497

2
125883.476563,139542.671875,7051.062012,-140.625015
145961.375000,201271.687500,4834.559082,-117.187508

3
125883.765625,139542.390625,7046.116211,-140.625015
145969.734375,201268.968750,4834.488281,-117.187508
172291.859375,282569.125000,2058.793457,175.762497

3
125882.976563,139542.812500,7050.623535,-140.625015
145962.140625,201271.500000,4836.896484,-117.187508
172288.171875,282570.062500,2050.759033,175.762497

3
125886.492188,139541.765625,7052.896973,-140.625015
145958.296875,201272.718750,4836.117188,-117.187508
172289.171875,282569.125000,2033.909180,175.762497

3
125881.835938,139543.046875,7046.874023,-140.625015
145968.375000,201269.109375,4827.262695,-117.187508
172302.562500,282565.250000,2046.407227,175.762497

3
125883.492188,139542.468750,7045.677246,-140.625015
145970.468750,201268.703125,4834.346191,-117.187508
172292.593750,282570.656250,2107.333984,175.762497

3
125883.234375,139542.312500,7039.375488,-140.625015
145981.234375,201265.593750,4845.042969,-117.187508
172275.781250,282573.437500,2032.346924,175.762497

1
125873.890625,139547.500000,7097.291016,-140.625015

1
125892.296875,139541.031250,7084.327637,-140.625015

3
125883.328125,139542.609375,7048.110352,-140.625015
145966.328125,201269.968750,4832.079102,-117.187508
172295.265625,282567.343750,2039.265869,175.762497

2
125881.820313,139543.109375,7048.389648,-140.625015
145965.828125,201270.015625,4829.316406,-117.187508

3
125886.023438,139541.718750,7047.791504,-140.625015
145966.937500,201269.984375,4837.958984,-117.187508
172286.468750,282570.250000,2040.381470,175.762497

3
125882.070313,139542.859375,7043.842773,-140.625015
145973.734375,201268.203125,4849.860352,-117.187508
172268.937500,282576.937500,2068.500977,175.762497

2
125885.046875,139541.937500,7045.158691,-140.625015
145971.375000,201268.500000,4836.754883,-117.187508

3
125886.679688,139541.421875,7045.478027,-140.625015
145970.953125,201269.046875,4848.160156,-117.187508
172271.125000,282575.000000,2033.909180,175.762497

3
125884.023438,139542.296875,7045.956543,-140.625015
145970.125000,201269.234375,4845.326660,-117.187508
172275.375000,282573.625000,2034.579102,175.762497

3
125880.195313,139543.531250,7045.517578,-140.625015
145970.765625,201268.703125,4837.038086,-117.187508
172287.890625,282569.906250,2043.951782,175.762497

2
125882.890625,139542.796875,7049.426758,-140.625015
145964.203125,201270.984375,4841.500977,-117.187508

3
125882.937500,139542.562500,7043.403809,-140.625015
145974.312500,201267.453125,4834.275391,-117.187508
172292.125000,282568.875000,2053.436768,175.762497

3
125880.820313,139543.281250,7044.321289,-140.625015
145972.750000,201267.937500,4833.638184,-117.187508
172293.093750,282568.562500,2053.660156,175.762497

3
125887.578125,139541.218750,7048.110352,-140.625015
145966.203125,201269.546875,4819.187012,-117.187508
172314.859375,282561.906250,2064.819092,175.762497

3
125885.953125,139541.781250,7048.549316,-140.625015
145965.687500,201270.484375,4840.721680,-117.187508
172282.359375,282571.656250,2042.167114,175.762497

3
125886.007813,139541.562500,7043.284180,-140.625015
145974.468750,201267.265625,4830.733887,-117.187508
172297.312500,282566.750000,2041.608765,175.762497

3
125881.648438,139543.234375,7050.184570,-140.625015
145962.796875,201271.000000,4828.891602,-117.187508
172300.250000,282566.406250,2058.681885,175.762497

3
125884.148438,139542.281250,7046.913574,-140.625015
145968.437500,201269.546875,4839.021973,-117.187508
172285.203125,282571.781250,2071.960449,175.762497

3
125879.867188,139543.828125,7050.663086,-140.625015
145962.234375,201272.031250,4852.197754,-117.187508
172265.281250,282577.593750,2052.990234,175.762497

3
125882.929688,139542.781250,7049.426758,-140.625015
145964.062500,201270.531250,4827.333496,-117.187508
172302.375000,282565.000000,2038.707642,175.762497

3
125884.796875,139541.812500,7039.574707,-140.625015
145980.718750,201265.171875,4829.316406,-117.187508
172299.312500,282565.687500,2029.222412,175.762497

1
125882.929688,139544.218750,7088.196777,-140.625015

3
125881.796875,139543.062500,7046.794434,-140.625015
145968.546875,201269.187500,4830.804688,-117.187508
172297.328125,282567.218750,2054.330078,175.762497

3
125886.476563,139541.453125,7044.799805,-140.625015
145971.812500,201267.812500,4822.020020,-117.187508
172310.453125,282562.781250,2049.754883,175.762497

1
125917.968750,139531.515625,7052.976563,-140.625015

3
125884.429688,139542.375000,7051.341309,-140.625015
145960.875000,201271.718750,4830.946289,-117.187508
172297.093750,282567.187500,2051.317139,175.762497

3
125880.523438,139543.375000,7044.400879,-140.625015
145972.593750,201267.906250,4831.725586,-117.187508
172295.812500,282567.218750,2040.381470,175.762497

3
125880.953125,139543.421875,7049.067871,-140.625015
145964.812500,201270.796875,4841.146973,-117.187508
172281.718750,282571.875000,2043.059448,175.762497

2
125888.390625,139540.765625,7042.845703,-140.625015
145975.312500,201267.328125,4839.659180,-117.187508

3
125881.539063,139543.031250,7043.483398,-140.625015
145974.296875,201267.859375,4845.539063,-117.187508
172275.218750,282574.250000,2049.419922,175.762497

3
125883.859375,139542.562500,7051.460938,-140.625015
145960.750000,201272.046875,4839.375488,-117.187508
172284.390625,282571.062500,2044.510010,175.762497

3
125881.453125,139543.156250,7046.475098,-140.625015
145969.093750,201269.046875,4831.796387,-117.187508
172295.921875,282567.937500,2061.694580,175.762497

2
125878.343750,139544.296875,7049.905273,-140.625015
145963.390625,201271.203125,4839.729980,-117.187508

2
125883.679688,139542.265625,7042.047852,-140.625015
145976.765625,201267.203125,4849.222656,-117.187508

1
125893.953125,139538.890625,7041.209961,-140.625015

3
125881.640625,139543.218750,7049.945313,-140.625015
145963.234375,201270.937500,4831.158203,-117.187508
172297.328125,282569.000000,2103.986084,175.762497

1
125875.765625,139546.828125,7095.655762,-140.625015

3
125885.773438,139541.859375,7049.426758,-140.625015
145964.140625,201270.796875,4834.983887,-117.187508
172290.765625,282568.250000,2023.643433,175.762497

3
125883.718750,139542.250000,7041.568848,-140.625015
145977.406250,201266.468750,4834.488281,-117.187508
172291.421875,282567.812500,2017.059448,175.762497

2
125890.437500,139540.203125,7045.797363,-140.625015
145970.281250,201268.796875,4835.196289,-117.187508

3
125883.882813,139542.390625,7047.033691,-140.625015
145968.187500,201269.468750,4835.409180,-117.187508
172290.375000,282569.250000,2048.304443,175.762497

3
125882.750000,139542.750000,7047.033691,-140.625015
145968.156250,201269.375000,4832.008301,-117.187508
172295.453125,282567.531250,2045.737305,175.762497

3
125880.398438,139543.390625,7043.643066,-140.625015
145973.937500,201267.671875,4836.896484,-117.187508
172288.156250,282570.000000,2048.526855,175.762497

3
125875.960938,139545.093750,7050.463867,-140.625015
145962.359375,201271.265625,4832.504395,-117.187508
172294.656250,282567.656250,2042.278687,175.762497

2
125885.781250,139541.765625,7046.993652,-140.625015
145968.250000,201269.453125,4835.409180,-117.187508

3
125879.960938,139543.734375,7048.588867,-140.625015
145965.515625,201270.218750,4831.512695,-117.187508
172296.171875,282567.250000,2045.068237,175.762497

3
125880.375000,139543.453125,7044.720215,-140.625015
145972.125000,201268.281250,4837.604980,-117.187508
172287.015625,282570.125000,2042.055420,175.762497

3
125886.492188,139541.484375,7045.797363,-140.625015
145970.296875,201268.890625,4838.101074,-117.187508
172286.046875,282569.625000,2019.626587,175.762497

0

0

3
125883.171875,139542.656250,7047.831543,-140.625015
145966.906250,201270.109375,4841.500977,-117.187508
172281.375000,282572.593750,2059.797363,175.762497

2
125887.406250,139541.328125,7049.426758,-140.625015
145964.125000,201270.703125,4832.646484,-117.187508

2
125882.679688,139542.546875,7040.571777,-140.625015
145979.109375,201265.937500,4835.479980,-117.187508

3
125883.210938,139542.765625,7051.420898,-140.625015
145960.750000,201271.812500,4833.142090,-117.187508
172293.765625,282568.156250,2048.081055,175.762497

3
125925.937500,139686.468750,7045.098145,-140.625015
145962.562500,201271.406250,4838.030273,-117.187508
172286.421875,282570.468750,2046.407227,175.762497

3
125884.054688,139542.125000,7041.409180,-140.625015
145977.765625,201266.625000,4842.421875,-117.187508
172279.687500,282572.125000,2031.008057,175.762497

2
125888.992188,139540.687500,7045.956543,-140.625015
145970.296875,201269.765625,4861.832031,-117.187508

0

2
125883.375000,139542.500000,7045.517578,-140.625015
145970.734375,201268.578125,4833.567383,-117.187508

3
125880.375000,139543.453125,7044.799805,-140.625015
145971.968750,201268.265625,4835.550781,-117.187508
172289.859375,282568.375000,2018.733398,175.762497

2
125887.539063,139540.968750,7040.851074,-140.625015
145978.718750,201266.375000,4844.051270,-117.187508

0

2
125883.351563,139542.406250,7042.964844,-140.625015
145974.953125,201266.921875,4825.987305,-117.187508

2
145921.171875,201288.937500,4950.453125,-117.187508
172115.203125,282616.531250,1785.633057,175.762497

3
125886.601563,139541.578125,7049.227539,-140.625015
145964.546875,201270.859375,4840.226074,-117.187508
172283.562500,282572.843750,2086.354736,175.762497

3
125877.140625,139544.734375,7051.141602,-140.625015
145961.250000,201271.734375,4834.913086,-117.187508
172290.781250,282567.968750,2015.163086,175.762497

3
125880.734375,139543.390625,7046.435059,-140.625015
145969.343750,201269.593750,4848.584961,-117.187508
172270.437500,282575.062500,2029.222412,175.762497

3
125886.992188,139541.359375,7046.475098,-140.625015
145969.187500,201269.328125,4840.013672,-117.187508
172283.406250,282571.281250,2041.050537,175.762497

3
125881.187500,139543.125000,7043.204590,-140.625015
145974.718750,201267.546875,4840.580078,-117.187508
172282.406250,282571.125000,2027.660278,175.762497

3
125884.179688,139542.250000,7046.076172,-140.625015
145969.890625,201269.218750,4843.342773,-117.187508
172278.296875,282572.500000,2028.999146,175.762497

3
125885.156250,139541.906250,7045.158691,-140.625015
145971.406250,201268.609375,4840.084473,-117.187508
172283.406250,282571.625000,2051.539551,175.762497

3
125884.140625,139542.250000,7045.797363,-140.625015
145970.218750,201268.640625,4830.025391,-117.187508
172298.328125,282566.250000,2036.475464,175.762497

3
125887.835938,139540.859375,7040.571777,-140.625015
145979.125000,201265.968750,4836.542480,-117.187508
172288.484375,282569.218750,2030.004028,175.762497

3
125882.148438,139542.828125,7043.483398,-140.625015
145974.203125,201267.593750,4837.321777,-117.187508
172287.468750,282570.062500,2044.510010,175.762497

3
125883.671875,139542.375000,7044.879883,-140.625015
145971.781250,201268.171875,4831.441895,-117.187508
172296.218750,282567.000000,2038.595947,175.762497

3
125885.414063,139541.781250,7044.400879,-140.625015
145972.671875,201268.156250,4839.092773,-117.187508
172284.984375,282571.437500,2060.801514,175.762497

2
125885.921875,139541.812500,7049.426758,-140.625015
145964.171875,201270.859375,4837.604980,-117.187508

3
125884.414063,139542.062500,7042.964844,-140.625015
145975.093750,201267.359375,4838.879883,-117.187508
172284.843750,282569.906250,2015.163086,175.762497

3
125886.375000,139541.515625,7045.358398,-140.625015
145971.062500,201268.687500,4838.951172,-117.187508
172285.343750,282571.812500,2074.750000,175.762497

2
125879.914063,139543.703125,7047.871094,-140.625015
145966.781250,201269.984375,4836.259277,-117.187508

3
125882.492188,139542.750000,7044.520508,-140.625015
145972.375000,201267.906250,4829.175293,-117.187508
172299.781250,282566.406250,2053.995117,175.762497

3
125886.562500,139541.453125,7045.517578,-140.625015
145970.718750,201268.546875,4832.504395,-117.187508
172295.062500,282568.906250,2080.440674,175.762497

3
125887.742188,139541.203125,7048.987793,-140.625015
145964.906250,201270.593750,4836.400879,-117.187508
172288.640625,282568.968750,2024.312378,175.762497

3
125880.046875,139543.609375,7046.315918,-140.625015
145969.390625,201269.031250,4833.496582,-117.187508
172293.109375,282567.906250,2035.471436,175.762497

3
125886.765625,139541.296875,7042.726074,-140.625015
145975.484375,201267.187500,4837.533691,-117.187508
172287.093750,282569.968750,2037.368652,175.762497

3
125885.968750,139541.687500,7046.674805,-140.625015
145968.796875,201269.296875,4835.763184,-117.187508
172289.859375,282569.500000,2050.200684,175.762497

2
125882.109375,139542.859375,7043.962402,-140.625015
145973.406250,201267.890625,4838.242676,-117.187508

3
125883.570313,139542.312500,7042.047852,-140.625015
145976.593750,201266.703125,4834.204590,-117.187508
172292.140625,282568.562500,2045.068237,175.762497

3
125881.367188,139543.140625,7045.198730,-140.625015
145971.328125,201268.578125,4838.879883,-117.187508
172285.078125,282570.625000,2038.484253,175.762497