说明：  这篇文章介绍了离散卡尔曼理论和实用方法，包括卡尔曼滤波器及其衍生：扩展卡尔曼滤波器的描述和讨论，并给出了一个相对简单的带图实例
(This article describes the discrete Kalman theory and practical methods, including Kalman filter and its derivatives: Extended Kalman Filter described and discussed, and gives a relatively simple band diagram examples)