写个C++线性卡尔曼滤波代码
时间: 2023-03-14 13:43:26 浏览: 107
好的,下面是一个简单的线性卡尔曼滤波的C语言代码示例:
```
#include <stdio.h>
#include <math.h>
#define dt 0.1
#define A 1
#define H 1
#define Q 0.1
#define R 1
double x_est_last;
double P_last;
double x_temp_est;
double P_temp;
double K;
double z_measured;
double z_real = 1;
void Kalman_Filter(double z_measured)
{
x_temp_est = A * x_est_last;
P_temp = A * P_last * A + Q;
K = P_temp * H / (H * P_temp * H + R);
x_est_last = x_temp_est + K * (z_measured - H * x_temp_est);
P_last = (1 - K * H) * P_temp;
}
int main()
{
x_est_last = 0;
P_last = 1;
for (int i = 0; i < 100; i++) {
z_measured = z_real + 0.1 * ((double)rand() / RAND_MAX - 0.5);
Kalman_Filter(z_measured);
printf("iteration %d: z_real = %f, z_measured = %f, x_est = %f\n", i, z_real, z_measured, x_est_last);
}
return 0;
}
```
注意:这仅仅是一个简单的代码示例,实际使用过程中需要根据实际情况调整系统参数,并进行适当的验证。