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卡尔曼滤波器教程,中文详解,通俗易懂,18页
kalman滤波器详解.rar
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内容介绍
<html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta charset="utf-8"> <meta name="generator" content="pdf2htmlEX"> <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"> <link rel="stylesheet" href="https://static.pudn.com/base/css/base.min.css"> <link rel="stylesheet" href="https://static.pudn.com/base/css/fancy.min.css"> <link rel="stylesheet" href="https://static.pudn.com/prod/directory_preview_static/622b2e92ff7f9c46a68987ec/raw.css"> <script src="https://static.pudn.com/base/js/compatibility.min.js"></script> <script src="https://static.pudn.com/base/js/pdf2htmlEX.min.js"></script> <script> try{ pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({}); }catch(e){} </script> <title></title> </head> <body> <div id="sidebar" style="display: none"> <div id="outline"> </div> </div> <div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" 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class="ff1">&#65289;<span class="ff4"> <span class="_ _2"> </span></span><span class="ls5">&#20998;&#35299;&#30697;&#38453;&#33258;&#21327;&#26041;&#24046;&#29983;&#25104;&#20989;&#25968;&#25110;&#35889;&#23494;&#24230;&#12290;</span></span> </div><div class="t m0 x4 h3 y9 ff3 fs0 fc0 sc1 ls0 ws0">4<span class="ff1">&#65289;<span class="ff4"> <span class="_ _2"> </span></span><span class="ls8">&#20272;&#35745;&#31995;&#25968;&#38543;&#26102;&#38388;&#21464;&#21270;&#30340;&#21521;&#37327;&#33258;&#22238;&#24402;&#12290;</span></span> </div><div class="t m0 x6 h3 ya ff1 fs0 fc0 sc1 ls0 ws0">&#31532;&#19968;&#33410;<span class="ff3 ls9"> </span><span class="ls8">&#21160;&#24577;&#31995;&#32479;&#30340;&#29366;&#24577;&#31354;&#38388;&#34920;&#31034;</span><span class="ff3"> </span></div><div class="t m0 x3 h2 yb ff1 fs0 fc0 sc0 lsa ws0">&#19968;&#65294;&#20551;&#35774;&#26465;&#20214;<span class="ff2 sc1 ls0"> </span></div><div class="t m0 x2 h2 yc ff1 fs0 fc0 sc1 ls0 ws0">&#20196;</div><div class="t m0 x7 h4 yd ff5 fs1 fc0 sc1 ls0 ws0">t</div><div class="c x8 ye w2 h5"><div class="t m0 x0 h6 yf ff2 fs2 fc0 sc1 ls0 ws0">y</div></div><div class="t m0 x9 h2 y10 ff1 fs0 fc0 sc1 lsb ws0">&#34920;&#31034;&#26102;&#26399;<span class="_ _4"></span><span class="ff5 fs2 ls0">t<span class="_ _5"> </span></span>&#35266;&#23519;&#21040;&#21464;&#37327;&#30340;&#19968;&#20010;</div><div class="c xa y11 w3 h7"><div class="t m1 x0 h8 y12 ff6 fs3 fc0 sc1 ls0 ws0">(</div></div><div class="t m1 xb h8 y13 ff6 fs3 fc0 sc1 ls0 ws0">)</div><div class="t m0 xc h9 y10 ff3 fs4 fc0 sc1 ls0 ws0">1<span class="_ _6"></span><span class="ff5">n</span></div><div class="c xd y14 w4 ha"><div class="t m0 x0 hb y15 ff6 fs4 fc0 sc1 ls0 ws0">&#215;</div></div><div class="t m0 xe h2 y10 ff1 fs0 fc0 sc1 lsb ws0">&#21521;&#37327;&#12290;&#21017;</div><div class="t m0 xf h4 yd ff5 fs1 fc0 sc1 ls0 ws0">t</div><div class="c x10 ye w5 h5"><div class="t m0 x0 h6 yf ff2 fs2 fc0 sc1 ls0 ws0">y</div></div><div class="t m0 x11 h2 y10 ff1 fs0 fc0 sc1 lsc ws0">&#30340;&#21160;&#24577;&#21487;&#20197;&#29992;</div><div class="t m0 x3 h2 y16 ff1 fs0 fc0 sc1 ls5 ws0">&#19981;&#21487;&#35266;&#27979;&#30340;</div><div class="t m2 x12 h8 y17 ff6 fs3 fc0 sc1 lsd ws0">()</div><div class="t m0 x13 h2 y18 ff3 fs4 fc0 sc1 ls0 ws0">1<span class="_ _7"></span><span class="ff5">r<span class="_ _8"></span><span class="ff6">&#215;<span class="_ _9"> </span><span class="ff1 fs0">&#21521;&#37327;</span></span></span></div><div class="t m0 x14 h4 y19 ff5 fs1 fc0 sc1 ls0 ws0">t</div><div class="c x15 y1a w6 h5"><div class="t m0 x0 hc yf ff7 fs2 fc0 sc1 ls0 ws0">&#958;</div></div><div class="t m0 x16 h2 y18 ff1 fs0 fc0 sc1 ls0 ws0">&#26469;&#34920;&#31034;&#65292;</div><div class="t m0 x17 h4 y19 ff5 fs1 fc0 sc1 ls0 ws0">t</div><div class="c x18 y1a w6 h5"><div class="t m0 x0 hc yf ff7 fs2 fc0 sc1 ls0 ws0">&#958;</div></div><div class="t m0 x19 h2 y18 ff1 fs0 fc0 sc1 lse ws0">&#20026;&#29366;&#24577;&#21521;&#37327;&#12290;</div><div class="t m0 x1a h4 y19 ff5 fs1 fc0 sc1 ls0 ws0">t</div><div class="c x1b y1a w5 h5"><div class="t m0 x0 h6 yf ff2 fs2 fc0 sc1 ls0 ws0">y</div></div><div class="t m0 x1c h2 y18 ff1 fs0 fc0 sc1 lsf ws0">&#30340;&#21160;&#24577;&#31995;&#32479;&#21487;&#20197;&#34920;</div><div class="t m0 x3 h3 y1b ff1 fs0 fc0 sc1 ls10 ws0">&#31034;&#20026;&#22914;&#19979;&#30340;&#29366;&#24577;&#31354;&#38388;&#27169;&#22411;&#65306;<span class="ff3 ls0"> </span></div><div class="t m0 x1d hd y1c ff3 fs1 fc0 sc1 ls11 ws0">11<span class="_ _a"></span><span class="ff5 ls12">tt<span class="_ _b"></span>t</span></div><div class="t m0 x1e he y1d ff5 fs2 fc0 sc1 ls13 ws0">Fv</div><div class="c x1f y1e w7 hf"><div class="t m3 x0 h10 y15 ff6 fs5 fc0 sc1 ls0 ws0">&#958;</div></div><div class="t m3 x20 h10 y1d ff6 fs5 fc0 sc1 ls0 ws0">&#958;</div><div class="t m0 x21 h11 y1c ff6 fs1 fc0 sc1 ls14 ws0">++</div><div class="t m0 x22 h3 y1d ff6 fs2 fc0 sc1 ls15 ws0">=+<span class="_ _c"></span><span class="ff3 fs0 ls16 ws1"> <span class="ls17 ws0"> <span class="ff1 ls0">&#65288;<span class="ff3">1</span>&#65289;<span class="ff3"> </span></span></span></span></div><div class="t m0 x23 h4 y1f ff5 fs1 fc0 sc1 ls18 ws0">tt<span class="_ _4"> </span>t<span class="_ _d"></span>t</div><div class="t m0 x6 he y20 ff5 fs2 fc0 sc1 ls19 ws0">yA<span class="_ _e"></span>x<span class="_ _f"></span>H<span class="_ _10"> </span>w</div><div class="c x24 y21 w8 hf"><div class="t m3 x0 h10 y22 ff6 fs5 fc0 sc1 ls0 ws0">&#958;</div></div><div class="t m0 x25 h12 y23 ff6 fs2 fc0 sc1 ls1a ws0">&#8242;&#8242;</div><div class="t m0 x26 h12 y24 ff6 fs2 fc0 sc1 ls1b ws0">=+<span class="_ _5"> </span>+</div><div class="t m0 x27 h3 y20 ff3 fs0 fc0 sc1 ls1c ws2"> <span class="ws3"> <span class="ff1 ls0 ws0">&#65288;<span class="ff3">2</span>&#65289;<span class="ff3"> </span></span></span></div><div class="t m0 x3 h2 y25 ff1 fs0 fc0 sc1 ls1d ws0">&#20854;&#20013;</div><div class="t m0 x7 h13 y26 ff6 fs6 fc0 sc1 ls1e ws0">&#8242;&#8242;</div><div class="t m0 x28 h14 y27 ff2 fs6 fc0 sc1 ls1f ws0">F,<span class="_ _4"> </span>A<span class="_ _11"> </span>,<span class="_ _4"> </span>H</div><div class="t m0 x29 h2 y28 ff1 fs0 fc0 sc1 ls20 ws0">&#20998;&#21035;&#20026;</div><div class="t m4 x22 h8 y29 ff6 fs3 fc0 sc1 ls21 ws0">()</div><div class="t m0 x2a h2 y28 ff5 fs4 fc0 sc1 ls22 ws0">rr<span class="_ _12"></span><span class="ff6 ls0">&#215;<span class="_ _13"> </span><span class="ff1 fs0">&#65292;</span></span></div><div class="c x2b y2a w3 h7"><div class="t m5 x0 h8 y12 ff6 fs3 fc0 sc1 ls0 ws0">(</div></div><div class="t m5 x2c h8 y29 ff6 fs3 fc0 sc1 ls0 ws0">)</div><div class="t m0 x2d h15 y28 ff5 fs4 fc0 sc1 ls23 ws0">nk</div><div class="c x2e y2b w9 ha"><div class="t m0 x0 hb y15 ff6 fs4 fc0 sc1 ls0 ws0">&#215;</div></div><div class="t m0 x18 h2 y28 ff1 fs0 fc0 sc1 ls0 ws0">&#21644;</div><div class="c x2f y2a w3 h7"><div class="t m6 x0 h8 y12 ff6 fs3 fc0 sc1 ls0 ws0">(</div></div><div class="t m6 x30 h8 y29 ff6 fs3 fc0 sc1 ls0 ws0">)</div><div class="t m0 x31 h15 y28 ff5 fs4 fc0 sc1 ls24 ws0">nr</div><div class="c x32 y2b wa ha"><div class="t m0 x0 hb y15 ff6 fs4 fc0 sc1 ls0 ws0">&#215;</div></div><div class="t m0 x33 h2 y28 ff1 fs0 fc0 sc1 ls20 ws0">&#30697;&#38453;&#65292;</div><div class="t m0 x34 h4 y2c ff5 fs1 fc0 sc1 ls0 ws0">t</div><div class="t m0 x35 h2 y28 ff2 fs2 fc0 sc1 ls0 ws0">x<span class="_ _14"> </span><span class="ff1 fs0 ls25">&#26159;&#22806;&#29983;&#21464;&#37327;&#25110;&#21069;&#23450;</span></div><div class="t m0 x3 h2 y2d ff1 fs0 fc0 sc1 ls20 ws0">&#21464;&#37327;&#30340;</div><div class="t m7 x8 h16 y2e ff6 fs7 fc0 sc1 ls26 ws0">()</div><div class="t m0 x36 h17 y2f ff3 fs8 fc0 sc1 ls0 ws0">1<span class="_ _6"></span><span class="ff5">k<span class="_ _8"></span><span class="ff6">&#215;</span></span></div><div class="t m0 x37 h3 y30 ff1 fs0 fc0 sc1 ls27 ws0">&#21521;&#37327;&#12290;&#26041;&#31243;&#65288;<span class="ff3 ls0">1</span><span class="ls28">&#65289;&#31216;&#20026;&#29366;&#24577;&#26041;&#31243;&#65292;&#26041;&#31243;&#65288;<span class="ff3 ls0">2<span class="_ _15"></span></span><span class="ls29">&#65289;&#31216;&#20026;&#35266;&#23519;&#26041;</span></span></div><div class="t m0 x3 h2 y31 ff1 fs0 fc0 sc1 ls0 ws0">&#31243;&#12290;&#20854;&#20013;</div><div class="t m8 x38 h8 y32 ff6 fs3 fc0 sc1 ls2a ws0">()</div><div class="t m0 x39 h2 y33 ff3 fs8 fc0 sc1 ls0 ws0">1<span class="_ _7"></span><span class="ff5">r<span class="_ _8"></span><span class="ff6">&#215;<span class="_ _9"> </span><span class="ff1 fs0">&#21521;&#37327;</span></span></span></div><div class="t m0 x3a h4 y34 ff5 fs1 fc0 sc1 ls0 ws0">t</div><div class="t m0 x3b h2 y33 ff2 fs2 fc0 sc1 ls0 ws0">v<span class="_ _16"> </span><span class="ff1 fs0">&#21644;</span></div><div class="t m9 x3c h8 y32 ff6 fs3 fc0 sc1 ls2b ws0">()</div><div class="t m0 x3d h2 y33 ff3 fs8 fc0 sc1 ls0 ws0">1<span class="_ _6"></span><span class="ff5">n<span class="_ _4"></span><span class="ff6">&#215;<span class="_ _9"> </span><span class="ff1 fs0">&#21521;&#37327;</span></span></span></div><div class="t m0 x2f h4 y34 ff5 fs1 fc0 sc1 ls0 ws0">t</div><div class="t m0 x3e h3 y33 ff2 fs2 fc0 sc1 ls0 ws0">w<span class="_ _14"> </span><span class="ff1 fs0 ls2c">&#20026;&#21521;&#37327;&#30333;&#22122;&#22768;&#65306;<span class="ff3 ls0"> </span></span></div><div class="t ma x3f h18 y35 ff6 fs9 fc0 sc1 ls2d ws0">()</div><div class="t ma x3f h18 y36 ff6 fs9 fc0 sc1 ls2e ws0">()</div><div class="t m0 x40 h19 y37 ff3 fsa fc0 sc1 ls0 ws0">0</div><div class="t m0 x2b h19 y38 ff3 fsa fc0 sc1 ls0 ws0">0</div><div class="t m0 x2a h1a y39 ff5 fsb fc0 sc1 ls0 ws0">t</div><div class="t m0 x41 h1a y3a ff5 fsb fc0 sc1 ls0 ws0">t</div><div class="t m0 x42 h1b y3b ff5 fsa fc0 sc1 ls2f ws0">Qt</div><div class="t m0 x6 h1b y3c ff5 fsa fc0 sc1 ls30 ws0">Ev<span class="_ _1"></span>v</div><div class="t m0 x2e h1b y3d ff5 fsa fc0 sc1 ls0 ws0">t</div><div class="t m0 x3d h1b y3e ff5 fsa fc0 sc1 ls31 ws0">Rt</div><div class="t m0 x6 h1b y3f ff5 fsa fc0 sc1 ls32 ws0">Ew<span class="_ _17"></span>w</div><div class="t m0 x43 h1b y40 ff5 fsa fc0 sc1 ls0 ws0">t</div><div class="t mb x44 h1c y39 ff6 fsc fc0 sc1 ls0 ws0">&#964;</div><div class="t mb x45 h1c y3a ff6 fsc fc0 sc1 ls0 ws0">&#964;</div><div class="c x2c y41 wb ha"><div class="t m3 x0 h1d y15 ff6 fsd fc0 sc1 ls0 ws0">&#964;</div></div><div class="c x2c y42 wc ha"><div class="t m3 x0 h1d y15 ff6 fsd fc0 sc1 ls0 ws0">&#964;</div></div><div class="c x46 y43 wd ha"><div class="t m3 x0 h1d y15 ff6 fsd fc0 sc1 ls0 ws0">&#964;</div></div><div class="c x46 y44 we ha"><div class="t m3 x0 h1d y15 ff6 fsd fc0 sc1 ls0 ws0">&#964;</div></div><div class="c x47 y41 wf ha"><div class="t m0 x0 h1e y15 ff6 fsa fc0 sc1 ls0 ws0">=</div></div><div class="t m0 x48 h1e y45 ff6 fsa fc0 sc1 ls0 ws0">&#9127;</div><div class="t m0 x15 h1e y46 ff6 fsa fc0 sc1 ls0 ws0">&#8242;</div><div class="t m0 x49 h1e y47 ff6 fsa fc0 sc1 ls0 ws0">=</div><div class="t m0 x48 h1e y48 ff6 fsa fc0 sc1 ls0 ws0">&#9128;</div><div class="c x47 y42 w10 ha"><div class="t m0 x0 h1e y15 ff6 fsa fc0 sc1 ls0 ws0">&#8800;</div></div><div class="t m0 x48 h1e y49 ff6 fsa fc0 sc1 ls0 ws0">&#9129;</div><div class="c x4a y43 w11 ha"><div class="t m0 x0 h1e y15 ff6 fsa fc0 sc1 ls0 ws0">=</div></div><div class="t m0 x42 h1e y4a ff6 fsa fc0 sc1 ls0 ws0">&#9127;</div><div class="t m0 x4b h1e y4b ff6 fsa fc0 sc1 ls0 ws0">&#8242;</div><div class="t m0 x4c h1e y4c ff6 fsa fc0 sc1 ls0 ws0">=</div><div class="t m0 x42 h1e y4d ff6 fsa fc0 sc1 ls0 ws0">&#9128;</div><div class="c x4a y44 w12 ha"><div class="t m0 x0 h1e y15 ff6 fsa fc0 sc1 ls0 ws0">&#8800;</div></div><div class="t m0 x42 h1e y4e ff6 fsa fc0 sc1 ls0 ws0">&#9129;</div><div class="t m0 x4d h3 y4f ff3 fs0 fc0 sc1 ls1c ws2"> <span class="ls17 ws3"> <span class="ff1 ls0 ws0">&#65288;<span class="ff3">3</span>&#65289;<span class="ff3"> </span></span></span></div><div class="t m0 x3 h2 y50 ff1 fs0 fc0 sc1 ls2 ws0">&#20854;&#20013;</div><div class="t m0 x5 h2 y51 ff3 fs6 fc0 sc1 ls0 ws0">,<span class="_ _18"></span><span class="ff5 ls33">QR<span class="_ _19"></span><span class="ff1 fs0 ls0">&#20026;</span></span></div><div class="t mc x4e h16 y52 ff6 fs7 fc0 sc1 ls34 ws0">()<span class="_ _1a"></span>(<span class="_ _8"></span>)</div><div class="t m0 x4f h2 y51 ff3 fsa fc0 sc1 ls0 ws0">,<span class="_ _1b"></span><span class="ff5 ls35">rr<span class="_ _14"> </span>n<span class="_ _1c"></span>n<span class="_ _1d"></span><span class="ff6 ls36">&#215;&#215;<span class="_ _1e"></span><span class="ff1 fs0 ls37">&#30697;&#38453;&#12290;&#20551;&#23450;&#25200;&#21160;&#39033;</span></span></span></div><div class="t m0 xb h1a y53 ff5 fsb fc0 sc1 ls0 ws0">t</div><div class="t m0 xc h2 y51 ff5 fs2 fc0 sc1 ls0 ws0">v<span class="_ _1f"> </span><span class="ff1 fs0">&#21644;</span></div><div class="t m0 x50 h1a y53 ff5 fsb fc0 sc1 ls0 ws0">t</div><div class="t m0 x51 h2 y51 ff5 fs2 fc0 sc1 ls0 ws0">w<span class="_ _1f"> </span><span class="ff1 fs0 ls38">&#22312;&#25152;&#26377;&#38454;&#28382;&#21518;&#37117;&#19981;&#30456;</span></div><div class="t m0 x3 h3 y54 ff1 fs0 fc0 sc1 ls0 ws0">&#20851;&#65306;<span class="ff3"> </span></div><div class="t ma x52 h18 y55 ff6 fs9 fc0 sc1 ls39 ws0">()</div><div class="t m0 x53 h19 y56 ff3 fsa fc0 sc1 ls0 ws0">0</div><div class="t m0 x54 h1f y57 ff5 fse fc0 sc1 ls3a ws0">tt</div><div class="t m0 x55 h1b y56 ff5 fsa fc0 sc1 ls30 ws0">Ev<span class="_ _c"></span>w</div><div class="t m0 x56 h1e y58 ff6 fsa fc0 sc1 ls0 ws0">&#8242;</div><div class="t m0 x57 h3 y56 ff6 fsa fc0 sc1 ls0 ws0">=<span class="_ _20"> </span><span class="ff3 fs0 ls16"> <span class="ff1 ls5">&#23545;&#25152;&#26377;&#30340;<span class="_ _4"></span></span></span><span class="ff5 fs2">t<span class="_ _5"> </span><span class="ff1 fs0">&#21644;</span></span></div><div class="c x58 y59 w13 h20"><div class="t md x0 h21 yf ff6 fsf fc0 sc1 ls0 ws0">&#964;</div></div><div class="t m0 x59 h3 y56 ff3 fs0 fc0 sc1 ls1c ws3"> <span class="ff1 ls0 ws0">&#65288;<span class="ff3">4</span>&#65289;<span class="ff3"> </span></span></div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></div></div> </body> </html>
评论
  • PUDN用户 2010-04-29 17:13:48
    我下了怎么就打不开
  • PUDN用户 2009-11-18 13:23:44
    很好
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