19 lines
347 B
C
19 lines
347 B
C
#ifndef __KALMAN_H
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#define __KALMAN_H
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//卡尔曼滤波参数结构体
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struct KalmanFilter{
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float LastP; //上一次协方差
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float NewP; //最新的协方差
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float Out; //卡尔曼输出
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float Kg; //卡尔曼增益
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float Q; //过程噪声的协方差
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float R; //观测噪声的协方差
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};
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extern void kalmanfiter(struct KalmanFilter *EKF,float input); //一维卡尔曼滤波
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#endif
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