卡尔曼滤波算法C代码
时间: 2023-07-29 18:09:47 浏览: 60
Sure, here is an example of a simple implementation of the Kalman filter algorithm in C:
```c
#include <stdio.h>
// Kalman filter variables
float Q = 0.0001; // process noise covariance
float R = 0.01; // measurement noise covariance
float x = 0; // estimated value
float P = 1; // estimation error covariance
// Kalman filter function
void kalman_filter(float measurement) {
// Prediction
float u = measurement - x;
float S = P + R;
float K = P / S;
// Update
x = x + K * u;
P = (1 - K) * P;
printf("Kalman Filter Output: %f\n", x);
}
int main() {
// Simulated sensor measurements
float measurements[] = {1, 2, 3, 4, 5};
int i;
for (i = 0; i < sizeof(measurements) / sizeof(measurements[0]); ++i) {
kalman_filter(measurements[i]);
}
return 0;
}
```
This code implements a simple one-dimensional Kalman filter algorithm. The main function includes a loop that feeds the sensor measurements to the Kalman filter function. The Kalman filter function performs the prediction and update steps of the algorithm, updating the estimated value `x` and the estimation error covariance `P` at each iteration.
Please note that this is a basic implementation and may not be suitable for all applications. It is recommended to consult more comprehensive resources and adapt the code to your specific needs.
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