说明：  VB自己编写的卡尔曼滤波程序源代码，每次变化数据源触发该子函数，初始定义完后得出滤波数值，然后自动计算出K+1时刻最优偏差，然后赋值给text1 也就是最优偏差，一直变化，而这个迭代由数据源的变化而触发驱动。
(The source code of the Kalman filter program written by VB. Every time the data source changes, the sub-function is triggered. After the initial definition, the filter value is obtained, and then the optimal deviation at the K + 1 time is automatically calculated, and then assigned to text1, which is the optimal The deviation always changes, and this iteration is triggered and driven by changes in the data source.)