说明：  我最近发表的一篇卡尔曼滤波的论文和程序，有详细的注释，且论文已发表，通过专家审核，滤波程序精度高，希望能对大家有帮助。
(I recently published a Kalman filter papers and procedures, detailed notes, and papers have been published, through expert review, filtering procedures with high precision, hoping to be helpful to everyone.)