kalman.h.svn-base

卡尔曼滤波的实现

#ifndef KALMAN_H
#define KALMAN_H




typedef struct Matrix
{
	int row;
	int column;
	float* data;
}
Matrix;
typedef struct Kalman
{
	int DP;//state-vctor dim
	int MP;//measurement-vector dim
	int CP;//conrol-vector dim
	Matrix* lastState;
	Matrix* lastP;
	Matrix* preState;
    Matrix* P_pre;
	Matrix* modifyState;
	Matrix* P_modify;
	Matrix* measurement;
	Matrix* contol;
	Matrix* Kg;
	Matrix* A;
	Matrix* B;
	Matrix* H;
	Matrix* R;
	Matrix* Q;
    Matrix* I;
    
}
Kalman;


#endif