说明：  数据滤波是去除噪声还原真实数据的一种数据处理技术, Kalman滤波在测量方差已知的情况下能够从一系列存在测量噪声的数据中，估计动态系统的状态. 由于, 它便于计算机编程实现, 并能够对现场采集的数据进行实时的更新和处理
(Data filtering is to remove noise and a data processing technique of real data reduction, Kalman filter can from a series of measurement noise variance in measuring the condition of known data, state estimation of dynamic systems. Because it is convenient for computer programming, and can be collected on the spot data update and real-time processing)