说明：  1、对观测数据进行卡尔曼滤波，得到预测的航迹以及估计误差的均值和标准差 2、返回值包括滤波预测后的估计航迹,以及均值和误差协方差
(1, the observed data, the Kalman filter, to get the track and the estimated prediction error of the mean and standard deviation 2, the return value, including forecasts of the estimated filter track, and the mean and error covariance)