说明：  卡尔曼滤波(Kalman filtering)一种利用线性系统状态方程，通过系统输入输出观测数据，对系统状态进行最优估计的算法。由于观测数据中包括系统中的噪声和干扰的影响，所以最优估计也可看作是滤波过程。
(Kalman filter (Kalman filtering) a use of linear state equations, observation data input and output through the system, the system state optimal estimation algorithm. Due to the observed data, including the effects of interference and noise in the system, it can also be considered optimal estimation filter process.)