说明：  本文以卡尔曼滤波器原理为理论基础，用MATLAB 进行卡尔曼滤波器仿真、对比 卡尔曼滤波器的预测效果，对影响滤波其效果的各方面原因进行讨论和比较，按照理论模型 进行仿真编程，清晰地表述了编程过程。
(This paper carries out the Kalman emulation, contrast the forecast effect of Kalman filter, discuss and compare the various reasons that affect the effort of the filter. And programming emulates according to theoretical model, in writing, divide into step according to the course of entire programming to write, have described programming course distinctly.)