说明：  卡尔曼滤波理论介绍，这里会应用形象的描述方法来讲解，而不是像大多数参考书那样罗列一大堆的数学公式和数学符号。
(Kalman filtering theory introduced here will be applied to explain the image description method, rather than as listed in most reference books a lot of mathematical formulas and mathematical symbols.)