system5multinctlctlnct.dat

Yaakov Bar-Shalom, X.-Rong Li,Thiagalingam Kirubarajan - Estimation with Applications to Tracking an

nmc=10
nx=5
kmax=157
run number  , frame , sample interval , truth:
1  1 1.272188  24.347377 -1.020519 125.189230 4.115220 0.067240
1  2 1.272188  22.782483 -1.438186 130.346272 3.987179 0.044117
1  3 1.272188  20.721640 -1.800841 135.381807 3.927089 0.361779
1  4 1.272188  17.349330 -3.407717 139.754145 2.826789 0.487845
1  5 1.272188  12.199409 -4.427246 141.818194 0.313107 0.182652
1  6 1.272188  6.524527 -4.454361 141.595200 -0.661857 0.182713
1  7 1.272188  1.013928 -4.169725 140.121227 -1.644811 0.358227
1  8 1.272188  -3.747934 -3.189293 136.931113 -3.282737 0.321951
1  9 1.272188  -6.895614 -1.690803 132.023356 -4.325175 0.423309
1  10 1.272188  -7.734535 0.394938 126.243311 -4.539951 0.429532
1  11 1.272188  -5.805876 2.557799 120.953101 -3.566085 0.245641
1  12 1.272188  -1.891145 3.546494 116.924677 -2.716247 0.124761
1  13 1.272188  2.832128 3.863201 113.969035 -1.920120 0.087635
1  14 1.272188  7.940515 4.159458 111.790844 -1.500679 0.167952
1  15 1.272188  13.444503 4.460685 110.440838 -0.613688 0.356370
1  16 1.272188  19.061353 4.216697 110.991385 1.465411 0.414131
1  17 1.272188  23.694764 2.897953 114.273691 3.579240 0.231702
1  18 1.272188  26.761183 1.888922 119.279497 4.233052 0.180138
1  19 1.272188  28.499693 0.832008 124.938486 4.624765 0.305056
1  20 1.272188  28.265308 -1.198599 130.926303 4.671155 0.420933
1  21 1.272188  25.253413 -3.422892 136.206293 3.430777 0.460733
1  22 1.272188  19.823920 -4.870490 138.954846 0.759886 0.360194
1  23 1.272188  13.684147 -4.610682 138.696135 -1.153858 0.391941
1  24 1.272188  8.440393 -3.460720 135.914886 -3.125635 0.340315
1  25 1.272188  4.999806 -1.863988 130.995547 -4.489998 0.405919
1  26 1.272188  4.031977 0.371420 125.018267 -4.694177 0.560497
1  27 1.272188  6.550742 3.422111 119.646837 -3.393005 0.714962
1  28 1.272188  12.199362 4.841573 117.724525 0.579594 0.677730
1  29 1.272188  17.292614 2.660037 120.793109 3.934438 0.842208
1  30 1.272188  17.573945 -2.269620 126.437575 4.057844 0.849205
1  31 1.272188  12.653619 -4.703665 129.225631 -0.111673 0.825033
1  32 1.272188  6.710915 -4.638829 129.249325 0.148923 0.000000
1  33 1.272188  0.906684 -4.485973 129.559724 0.339054 0.000000
1  34 1.272188  -4.817372 -4.512786 130.063800 0.453401 0.000000
1  35 1.272188  -10.515839 -4.445744 130.618943 0.419337 0.000000
1  36 1.272188  -16.319088 -4.677514 131.283489 0.625393 0.000000
1  37 1.272188  -22.303773 -4.730978 132.109207 0.672714 0.000000
1  38 1.272188  -28.436916 -4.910904 132.892391 0.558525 0.000000
1  39 1.272188  -34.780965 -5.062543 133.518865 0.426352 0.000000
1  40 1.272188  -41.105598 -4.880380 134.051831 0.411521 0.000000
1  41 1.272188  -47.394151 -5.005821 134.532942 0.344831 0.000000
1  42 1.272188  -53.704458 -4.914579 134.985029 0.365893 0.000000
1  43 1.272188  -59.827605 -4.711588 135.393595 0.276411 0.000000
1  44 1.272188  -65.783021 -4.650890 135.656560 0.136995 0.000000
1  45 1.272188  -71.653614 -4.578238 135.709231 -0.054192 0.000000
1  46 1.272188  -77.609404 -4.784828 135.690887 0.025354 0.000000
1  47 1.272188  -83.710787 -4.807125 135.615315 -0.144161 0.000000
1  48 1.272188  -89.714840 -4.631815 135.495138 -0.044768 0.000000
1  49 1.272188  -95.614011 -4.642242 135.480760 0.022164 0.000000
1  50 1.272188  -101.526160 -4.652216 135.529503 0.054463 0.000000
1  51 1.272188  -107.434716 -4.636593 135.646203 0.129001 0.000000
1  52 1.272188  -113.410115 -4.757301 135.887313 0.250047 0.000000
1  53 1.272188  -119.476234 -4.779214 136.130469 0.132217 0.000000
1  54 1.272188  -125.673483 -4.963449 136.190234 -0.038260 0.000000
1  55 1.272188  -131.881358 -4.795917 136.089810 -0.119616 0.000000
1  56 1.272188  -138.094747 -4.972120 135.881018 -0.208626 0.000000
1  57 1.272188  -144.454605 -5.026180 135.640784 -0.169044 0.000000
1  58 1.272188  -150.797099 -4.944821 135.373334 -0.251413 0.000000
1  59 1.272188  -157.105272 -4.972226 134.958309 -0.401047 0.000000
1  60 1.272188  -163.382769 -4.896595 134.583510 -0.188173 0.000000
1  61 1.272188  -169.670539 -4.988376 134.396765 -0.105407 0.000000
1  62 1.272188  -175.920001 -4.836370 134.042444 -0.451617 0.000000
1  63 1.272188  -181.521294 -3.672155 131.696794 -3.106369 0.000000
1  64 1.272188  -184.502984 -0.847347 126.593679 -4.642583 0.000000
1  65 1.272188  -183.676096 2.104106 120.622710 -4.432279 0.000000
1  66 1.272188  -179.553385 4.151242 116.184595 -2.307740 0.000000
1  67 1.272188  -173.661175 4.800473 115.029860 0.552058 0.000000
1  68 1.272188  -168.193183 3.502864 117.569168 3.304758 0.000000
1  69 1.272188  -165.311986 0.873528 122.925998 4.834012 0.000000
1  70 1.272188  -166.167392 -2.172784 128.984011 4.365006 0.000000
1  71 1.272188  -170.502524 -4.413560 133.311739 2.207173 0.000000
1  72 1.272188  -176.516059 -4.714357 134.293312 -0.711864 0.000000
1  73 1.272188  -181.833780 -3.361535 131.759359 -3.128198 0.000000
1  74 1.272188  -184.522292 -0.717214 126.778395 -4.433822 0.000000
1  75 1.272188  -183.754345 1.877419 121.264370 -3.938634 0.000000
1  76 1.272188  -180.043944 3.754417 117.370001 -1.973133 0.000000
1  77 1.272188  -174.807769 4.198095 116.515087 0.675865 0.000000
1  78 1.272188  -170.138179 2.890859 118.918037 2.971307 0.000000
1  79 1.272188  -167.941255 0.441636 123.502994 3.987926 0.000000
1  80 1.272188  -169.127049 -2.250570 128.443777 3.517367 0.000000
1  81 1.272188  -173.167170 -3.884751 131.763199 1.525031 0.000000
1  82 1.272188  -178.272687 -3.863444 132.093137 -1.021942 0.000000
1  83 1.272188  -182.429295 -2.447498 129.349081 -3.146523 0.000000
1  84 1.272188  -184.239720 -0.309155 124.698220 -3.914462 0.000000
1  85 1.272188  -183.091058 2.052848 119.885125 -3.397517 0.000000
1  86 1.272188  -179.357607 3.615398 116.657720 -1.503693 0.000000
1  87 1.272188  -174.392897 3.928959 116.276689 0.924549 0.000000
1  88 1.272188  -170.114294 2.567583 118.906761 3.069530 0.000000
1  89 1.272188  -168.319032 0.156011 123.698761 4.215715 0.000000
1  90 1.272188  -169.727381 -2.291956 128.681078 3.346393 0.000000
1  91 1.272188  -173.704203 -3.744799 131.698380 1.232747 0.000000
1  92 1.272188  -178.711096 -3.863327 131.656557 -1.298489 0.000000
1  93 1.272188  -182.791826 -2.334108 128.571094 -3.389168 0.000000
1  94 1.272188  -184.229274 0.151555 123.658539 -4.070206 0.000000
1  95 1.272188  -184.116876 0.025146 118.345668 -4.282130 0.000000
1  96 1.272188  -184.065564 0.055522 112.917487 -4.251485 0.000000
1  97 1.272188  -183.966135 0.100790 107.416028 -4.397330 0.000000
1  98 1.272188  -183.802417 0.156589 101.857579 -4.341079 0.000000
1  99 1.272188  -183.500304 0.318362 96.303280 -4.390805 0.000000
1  100 1.272188  -183.144317 0.241282 90.814274 -4.238433 0.000000
1  101 1.272188  -182.713923 0.435339 85.275068 -4.469723 0.000000
1  102 1.272188  -182.202354 0.368896 79.363000 -4.824608 0.000000
1  103 1.272188  -181.792445 0.275520 73.304178 -4.700436 0.000000
1  104 1.272188  -181.503631 0.178523 67.361770 -4.641592 0.000000
1  105 1.272188  -181.273690 0.182965 61.394844 -4.738980 0.000000
1  106 1.272188  -181.084236 0.114875 55.406921 -4.674603 0.000000
1  107 1.272188  -181.090889 -0.125334 49.401782 -4.766044 0.000000
1  108 1.272188  -181.316761 -0.229757 43.352714 -4.743664 0.000000
1  109 1.272188  -181.695046 -0.364944 37.401727 -4.611850 0.000000
1  110 1.272188  -182.104207 -0.278295 31.606397 -4.498959 0.000000
1  111 1.272188  -182.430790 -0.235125 25.927791 -4.428348 0.000000
1  112 1.272188  -182.814750 -0.368497 20.222429 -4.541022 0.000000
1  113 1.272188  -183.301105 -0.396098 14.344436 -4.699740 0.000000
1  114 1.272188  -183.760076 -0.325448 8.412457 -4.625892 0.000000
1  115 1.272188  -184.120144 -0.240613 2.521324 -4.635527 0.000000
1  116 1.272188  -184.443362 -0.267515 -3.296084 -4.509990 0.000000
1  117 1.272188  -184.802707 -0.297410 -9.003843 -4.463147 0.000000
1  118 1.272188  -185.068956 -0.121159 -14.507703 -4.189442 0.000000
1  119 1.272188  -185.308457 -0.255359 -19.785134 -4.107181 0.000000
1  120 1.272188  -185.600748 -0.204150 -24.965733 -4.037212 0.000000
1  121 1.272188  -185.844376 -0.178855 -30.113454 -4.055493 0.000000
1  122 1.272188  -185.956955 0.001870 -35.272560 -4.055110 0.000000
1  123 1.272188  -186.068488 -0.177210 -40.529131 -4.208718 0.000000
1  124 1.272188  -186.229406 -0.075769 -45.854368 -4.163058 0.000000
1  125 1.272188  -186.351659 -0.116425 -51.144850 -4.154082 0.000000
1  126 1.272188  -184.995287 2.169434 -56.003716 -3.218682 0.462509
1  127 1.272188  -181.057488 3.849001 -59.064594 -1.453082 0.532037
1  128 1.272188  -175.957756 3.857789 -59.173073 1.289547 0.261327
1  129 1.272188  -171.469469 3.132251 -56.758015 2.472063 0.094150
1  130 1.272188  -167.497162 3.105473 -53.298723 2.959926 0.185914
1  131 1.272188  -163.961909 2.426819 -49.122430 3.574826 0.061318
1  132 1.272188  -161.061234 2.130999 -44.325577 3.962563 0.272956
1  133 1.272188  -159.248016 0.691210 -38.953530 4.397224 0.338037
1  134 1.272188  -159.654399 -1.322015 -33.348485 4.278108 0.451130
1  135 1.272188  -162.808486 -3.501544 -28.702680 2.822506 0.446534
1  136 1.272188  -168.162196 -4.693465 -26.649554 0.313001 0.503521
1  137 1.272188  -173.844736 -3.931813 -28.189384 -2.653844 0.444245
1  138 1.272188  -177.722544 -2.004140 -32.795984 -4.395677 0.557781
1  139 1.272188  -178.310091 1.109650 -38.784360 -4.619333 0.458563
1  140 1.272188  -175.291582 3.501252 -43.818934 -3.064621 0.656009
1  141 1.272188  -169.932650 4.416681 -45.551944 0.497894 0.576671
1  142 1.272188  -165.021402 2.955188 -42.880440 3.520641 0.559122
1  143 1.272188  -163.119473 -0.093765 -37.568340 4.470004 0.476422
1  144 1.272188  -164.834999 -2.516847 -32.269448 3.603237 0.678845
1  145 1.272188  -169.459983 -4.291205 -29.662914 0.223735 0.595192
1  146 1.272188  -174.484200 -3.223967 -31.390234 -2.809425 0.608282
1  147 1.272188  -176.882198 -0.356595 -36.262086 -4.474175 0.519198
1  148 1.272188  -175.599115 2.293629 -41.746080 -3.834456 0.540234
1  149 1.272188  -171.188155 4.372298 -45.189272 -1.357810 0.546747
1  150 1.272188  -165.432962 4.311084 -44.967304 1.689746 0.698260
1  151 1.272188  -161.507347 1.452033 -40.726243 4.542003 0.515152
1  152 1.272188  -161.787434 -1.886188 -34.888047 4.298554 0.496602
1  153 1.272188  -165.797836 -4.212514 -30.406960 2.515631 0.617532
1  154 1.272188  -171.770340 -4.685117 -29.573078 -1.276760 0.890708
1  155 1.272188  -175.843343 -1.040910 -33.925678 -4.821636 0.775110
1  156 1.272188  -174.224971 3.369232 -39.679387 -3.474078 0.805811
1  157 1.272188  -168.689524 4.541459 -41.223609 1.281028 0.828258
2  1 1.272188  24.415243 -0.913826 125.061575 3.914535 0.252287
2  2 1.272188  22.505063 -2.062999 129.730812 3.362275 0.235162
2  3 1.272188  19.213230 -3.074254 133.594925 2.667568 0.416779
2  4 1.272188  14.522710 -4.129130 135.815184 0.740589 0.434381
2  5 1.272188  9.271684 -3.915126 135.353072 -1.446164 0.302225
2  6 1.272188  4.680940 -3.214406 132.616736 -2.802408 0.223431
2  7 1.272188  1.022819 -2.499078 128.428577 -3.738375 0.061425
2  8 1.272188  -1.876433 -2.056428 123.680182 -3.722651 -0.031041
2  9 1.272188  -4.512573 -2.087281 119.005803 -3.624960 -0.117275
2  10 1.272188  -7.523563 -2.637560 114.440282 -3.539645 -0.099379
2  11 1.272188  -11.174220 -3.094013 110.164080 -3.173987 -0.212819
2  12 1.272188  -15.586428 -3.799786 106.851432 -2.000549 -0.402208
2  13 1.272188  -20.889318 -4.355545 105.445137 -0.168061 -0.271730
2  14 1.272188  -26.367111 -4.170288 106.259780 1.437169 -0.139864
2  15 1.272188  -31.635324 -4.090615 108.519264 2.105454 -0.235608
2  16 1.272188  -36.351515 -3.267953 112.030033 3.373579 -0.206836
2  17 1.272188  -39.891034 -2.264283 116.939335 4.300842 -0.342650
2  18 1.272188  -41.593900 -0.372415 122.754542 4.693425 -0.511987
2  19 1.272188  -40.188779 2.501029 128.467903 3.969088 -0.406334
2  20 1.272188  -35.922802 4.053641 132.602808 2.389896 -0.250887
2  21 1.272188  -30.344463 4.641826 134.736552 0.935501 -0.208781
2  22 1.272188  -24.298750 4.807152 135.179017 -0.243572 -0.130946
2  23 1.272188  -18.304264 4.594700 134.255487 -1.205334 -0.144124
2  24 1.272188  -12.732213 4.140094 132.166670 -2.069410 -0.322952
2  25 1.272188  -8.084333 3.065094 128.526183 -3.573367 -0.562644
2  26 1.272188  -6.010289 0.059002 123.222358 -4.392071 -0.425581
2  27 1.272188  -7.538452 -2.407214 117.908545 -3.755729 -0.420460
2  28 1.272188  -11.626379 -3.862480 114.161717 -1.993260 -0.325742
2  29 1.272188  -16.846196 -4.224157 112.652482 -0.346455 -0.698236
2  30 1.272188  -21.651703 -2.819569 114.358843 2.835332 -0.933306
2  31 1.272188  -22.509217 1.641795 118.999137 3.568956 -0.981102
2  32 1.272188  -20.269009 1.880023 123.553943 3.591631 0.000000
2  33 1.272188  -17.935171 1.788992 128.129652 3.601818 0.000000
2  34 1.272188  -15.660114 1.787613 132.676144 3.545698 0.000000
2  35 1.272188  -13.345357 1.851405 137.126018 3.449925 0.000000