卡尔曼滤波c语言代码

以下是一个使用C语言编写的卡尔曼滤波算法的示例代码：

#include "stdio.h"
#include "stdlib.h"
#include "math.h"

#define kal_Q 0.001 /*过程噪声协方差,Q增大，动态响应变快，收敛稳定性变坏*/
#define kal_R 0.36 /*观测噪声协方差,R增大，动态响应变慢，收敛稳定性变好*/

double Kalman(double measure, int op_flg) {
    double x_mid, kg, p_mid;
    static double x_last = 0, p_last = 0;
    double x_now, p_now;

    if(op_flg) /*非初始化*/
    {
        x_mid = x_last;
        p_mid = p_last + kal_Q;
        kg = p_mid / (p_mid + kal_R);
        x_now = x_mid + kg * (measure - x_mid);
        p_now = (1 - kg) * p_mid;
        p_last = p_now;
        x_last = x_now;
    }
    else {
        x_last = measure;
        p_last = kal_Q;
    }

    return x_now;
}

int main() {
    float z_real = {5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5}; //此处替换成实际传感器采集数据,采集数据填充可以做成滑动的，先入先出
    float z_measure, x_now;
    int i;

    Kalman(z_real<span class="em">1</span><span class="em">2</span><span class="em">3</span>
#### 引用[.reference_title]
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