#ifndef _KALMAN_H_

#define _KALMAN_H_

extern  KalmanGain;//  卡爾曼增益

extern  EstimateCovariance;//估計(jì)協(xié)方差

extern  MeasureCovariance;//測(cè)量協(xié)方差

extern  EstimateValue;//估計(jì)值

extern void KalmanFilterInit(void);

extern      KalmanFilter(   Measure);

#endif

#include "config.h"

#include "math.h"

  KalmanGain;//  卡爾曼增益

  EstimateCovariance;//估計(jì)協(xié)方差

  MeasureCovariance;//測(cè)量協(xié)方差

  EstimateValue;//估計(jì)值

void KalmanFilterInit(void);

extern    float  KalmanFilter(float   Measure);

void KalmanFilterInit(void)

{

EstimateValue=0;

EstimateCovariance=0.1;

MeasureCovariance=0.02;

}

KalmanFilter(   Measure)

{

//計(jì)算卡爾曼增益

KalmanGain=EstimateCovariance*sqrt(1/(EstimateCovariance*EstimateCovariance+MeasureCovariance*MeasureCovariance))；

//計(jì)算本次濾波估計(jì)值

EstimateValue=EstimateValue+KalmanGain*（Measure-EstimateValue）；

//更新估計(jì)協(xié)方差

EstimateCovariance=sqrt(1-KalmanGain)*EstimateCovariance;

//更新測(cè)量方差

MeasureCovariance=sqrt(1-KalmanGain)*MeasureCovariance;

//返回估計(jì)值

return EstimateValue;

}