如何在单片机上实现卡尔曼滤波详细计算方法和程序概述

程序十分简洁易懂，而且使用效果不错，分享

#ifndef _KALMAN_H_

#define _KALMAN_H_

externKalmanGain;//卡尔曼增益

externEstimateCovariance;//估计协方差

externMeasureCovariance;//测量协方差

externEstimateValue;//估计值

extern void KalmanFilterInit(void);

extern KalmanFilter( Measure);

#endif

#include "config.h"

#include "math.h"

KalmanGain;//卡尔曼增益

EstimateCovariance;//估计协方差

MeasureCovariance;//测量协方差

EstimateValue;//估计值

void KalmanFilterInit(void);

extern floatKalmanFilter(float Measure);

void KalmanFilterInit(void)

{

EstimateValue=0;

EstimateCovariance=0.1;

MeasureCovariance=0.02;

}

KalmanFilter( Measure)

{

//计算卡尔曼增益

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

//计算本次滤波估计值

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

//更新估计协方差

EstimateCovariance=sqrt(1-KalmanGain)*EstimateCovariance;

//更新测量方差

MeasureCovariance=sqrt(1-KalmanGain)*MeasureCovariance;

//返回估计值

return EstimateValue;

}