26 lines
701 B
C
26 lines
701 B
C
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#ifndef _KALMAN_H
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#define _KALMAN_H
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typedef struct
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{
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float X_last; //上一时刻的最优结果 X(k-|k-1)
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float X_mid; //当前时刻的预测结果 X(k|k-1)
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float X_now; //当前时刻的最优结果 X(k|k)
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float P_mid; //当前时刻预测结果的协方差 P(k|k-1)
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float P_now; //当前时刻最优结果的协方差 P(k|k)
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float P_last; //上一时刻最优结果的协方差 P(k-1|k-1)
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float kg; //kalman增益
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float A; //系统参数
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float B;
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float Q;
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float R;
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float H;
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} extKalman_t;
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void KalmanCreate(extKalman_t* p, float T_Q, float T_R);
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float KalmanFilter(extKalman_t* p, float dat);
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#endif
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