说明：  基于matlab，实现滚动时域估计算法（MHE算法），将估计问题转化为优化问题，基于粒子群算法求解最优解，结合惩罚函数法来处理带约束的优化问题
(Optimization based on matlab, realize moving horizon estimation (MHE algorithm), the estimation problem into an optimization problem solving the optimal solution based on particle swarm algorithm, combined penalty function method to deal with constraints)