说明：  卡尔曼滤波 Kalman 滤波是状态估计的基本方法，是一种线性无偏最小均方误差估计，采用的是状态变量法， 适用于对多维的随机过程滤波。
(Kalman Filter Kalman filter is the basic method of state estimation, which is a linear unbiased least mean square error estimation. It adopts the state variable method, which is suitable for multi-dimensional random process filtering.)