clear?all;
clear?all;
clear?all;
close?all;


clc;
N=100;
beta=1;
ro=0.95;
T=1;
xx（1）=200;
vx（1）=15;
yy（1）=200;
vy（1）=9;
for?i=1:N
??????if?i<=30
????????vx（i+1）=15;
????????vy（i+1）=9;
????elseif?i<40&&i>30
????????vx（i+1）=10;
????????vy（i+1）=-10;
????????ax=-2;
????elseif?i<=100&&i>=40
????????vx（i+1）=15;
????????vy（i+1）=9;
????end
????xx（i+1）=xx（i）+vx（i）*T;%+0.5*0*T^2*randn;%X軸的動態方程
????yy（i+1）=yy（i）+vy（i）*T;
%?????z（i+1）=x（i+1）^2+y（i+1）^2;
end
figure;
plot（xxyy‘k‘）;
legend（‘Trajectory‘）;
xlabel（‘X-displacement?（m）‘）;
ylabel（‘Y-displacement?（m）‘）;
Q=[T^3/3T^2/200;T^2/2T00;00T^3/3T^2/2;00T^2/2T];
R=[600;060];
x（1:）=xx;
x（2:）=vx;
x（3:）=yy;
x（4:）=vy;
n=length（x（:1））;
ckf_kesi1=sqrt（n）*[1000;0100;0010;0001];
ckf_kesi2=-sqrt（n）*[1000;0100;0010;0001];
kesi=[ckf_kesi1ckf_kesi2]

?P=[100000;0100;001000;0001];
????F=[1T00;0100;001T;0001];

w?=?sqrt（Q）*randn（4N+1）;
v?=?sqrt（R）*randn（2N+1）;
for