卡尔曼滤波算法代码总结[20150311]

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1、word格式文档/***************************************************************************//*kalman.c                                          *//*1-DKalmanfilterAlgorithm,usinganinclinometerandgyro        *//*Author:RichChiOoi                             

2、     *//*Version:1.0                                        *//*Date:30.05.2003                                      */ /*AdaptedfromTrammelHudson(hudson@rotomotion.com)              */  /*-------------------------------                            */

3、/*Compilation  procedure:                                *//*    Linux                                        *//*    gcc68-c  XXXXXX.c(tocreateobjectfile)                *//*    gcc68-o  XXXXXX.hexXXXXXX.oppwa.o                    *//*Uploaddata:   

4、     *//*ulfilename.txt                *//***************************************************************************//*Inthisversion:                                      *//***************************************************************************

5、//*Thisisafreesoftware;youcanredistributeitand/ormodify      *//*itunderthetermsoftheGNUGeneralPublicLicenseaspublished    *//*bytheFreeSoftwareFoundation;eitherversion2oftheLicense,    */ 专业整理word格式文档/*or(atyouroption)anylaterversion.               

6、       *//*                                                *//*thiscodeisdistributedinthehopethatitwillbeuseful,        *//*butWITHOUTANYWARRANTY;withouteventheimpliedwarrantyof      *//*MERCHANTABILITYorFITNESSFORAPARTICULARPURPOSE.  Seethe        *

7、//*GNUGeneralPublicLicenseformoredetails.                  *//*                                                */ /*YoushouldhavereceivedacopyoftheGNUGeneralPublicLicense    *//*alongwithAutopilot;ifnot,writetotheFreeSoftware          *//*Foundation,

8、Inc.,59TemplePlace,Suite330,Boston,            *//*MA  02111-1307  USA                                    *//***************************************************************************/#include#include"eyebot.h"/**Thestateisupdatedwithgyrorat