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    發布日期: 2024-01-19
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資源簡介

本程序是用來對帶有空氣阻力物體在空中飛行時的軌跡進行預估的采用了最小二乘法進行軌跡擬合，效果誤差可以限制在厘米級

資源截圖

代碼片段和文件信息 

#include“Kalman_Filter.h“
#include?
#include?

Kalman_Filter::Kalman_Filter（）
	{
		
	}
Kalman_Filter::~Kalman_Filter（）
	{
		
	}
void?Kalman_Filter::OutputMatrix（double?a[]int?mint?n）
	{
		printf（“\nThe?Matrix?is:\n“）;
		for（int?i?=?0;i			{
				printf（“\n“）;
				for（int?j?=?0;j					printf（“%f\t“a[i*n+j]）;
			}
			printf（“\n“）;

	}
void?Kalman_Filter::MatrixDotMultiple（double?a[]double?bint?mint?ndouble?c[]）
	{
		for（int?i?=?0;i			for（int?j?=?0;j				c[i*n+j]?=?a[i*n+j]*b;
	}
void?Kalman_Filter::MatrixEvaluate（double?a[]double?b[]int?mint?n）//把矩陣a的值賦給b
	{
		for（int?i?=?0;i			for（int?j?=?0;j				b[i*n+j]?=?a[i*n+j];
	}
void?Kalman_Filter::MatrixAdd（double?a[]double?b[]int?mint?ndouble?c[]）
	{
		for（int?i?=?0;i			for（int?j?=?0;j				c[i*n+j]?=?a[i*n+j]+b[i*n+j];
	}
void?Kalman_Filter::MatrixTransepose（double?a[]int?mint?ndouble?b[]）					
				{
				for?（int?i=0;i					{
						for?（int?j=0;j						{
							b[j*m+i]=a[i*n+j];
						}
					}
				}
void?Kalman_Filter::MatrixMultiple（double?a[]double?b[]int??mint?nint?kdouble?c[]）
	
{?
	int?ijlu;
	for?（i=0;?i<=m-1;?i++）
		for?（j=0;?j<=k-1;?j++）
		{?
			u=i*k+j;?c[u]=0.0;
			for?（l=0;?l<=n-1;?l++）
				c[u]=c[u]+a[i*n+l]*b[l*k+j];
		}
		return;
}
int?Kalman_Filter::MatrixInv（double?a[]int?n）?
							??
{
	int?*is*jsijkluv;
	double?dp;
	is=new?int[n*sizeof（int）];
	js=new?int[n*sizeof（int）];
	//is=（int?*）malloc（n*sizeof（int））;
	//js=（int?*）malloc（n*sizeof（int））;
	for?（k=0;?k<=n-1;?k++）
	{
		d=0.0;
		for?（i=k;?i<=n-1;?i++）
			for?（j=k;?j<=n-1;?j++）
			{?
				l=i*n+j;?p=fabs（a[l]）;
				if?（p>d）?
				{?
					d=p;?is[k]=i;?js[k]=j;
				}
			}
			if?（d+1.0==1.0）
			{
				delete?is;?
				delete?js;?
				printf（“err**not?inv\n“）;
				return（0）;
			}
			if?（is[k]!=k）
				for?（j=0;?j<=n-1;?j++）
				{?
					u=k*n+j;?v=is[k]*n+j;
					p=a[u];?a[u]=a[v];?a[v]=p;
				}
				if?（js[k]!=k）
					for?（i=0;?i<=n-1;?i++）
					{?
						u=i*n+k;?v=i*n+js[k];
						p=a[u];?a[u]=a[v];?a[v]=p;
					}
					l=k*n+k;
					a[l]=1.0/a[l];
					for?（j=0;?j<=n-1;?j++）
						if?（j!=k）
						{?
							u=k*n+j;?a[u]=a[u]*a[l];
						}
						for?（i=0;?i<=n-1;?i++）
							if?（i!=k）
								for?（j=0;?j<=n-1;?j++）
									if?（j!=k）
									{?
										u=i*n+j;
										a[u]=a[u]-a[i*n+k]*a[k*n+j];
									}
									for?（i=0;?i<=n-1;?i++）
										if?（i!=k）
										{?
											u=i*n+k;?a[u]=-a[u]*a[l];
										}
	}
	for?（k=n-1;?k>=0;?k--）
	{
		if?（js[k]!=k）
			for?（j=0;?j<=n-1;?j++）
			{?
				u=k*n+j;?v=js[k]*n+j;
				p=a[u];?a[u]=a[v];?a[v]=p;
			}
			if?（is[k]!=k）
				for?（i=0;?i<=n-1;?i++）
				{?
					u=i*n+k;?v=i*n+is[k];
					p=a[u];?a[u]=a[v];?a[v]=p;
				}
	}
	free（is）;?
	free（js）;
	return（1）;
}
int?Kalman_Filter::Kalman_Algorithm_X（double?p0double?period_from_l

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件??????69632??2009-07-23?09:57??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Debug\Track?Prediction.exe

?????文件?????473728??2009-07-23?09:57??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Debug\Track?Prediction.ilk

?????文件?????887808??2009-07-23?09:57??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Debug\Track?Prediction.pdb

?????文件???????8764??2009-07-23?09:57??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Track?Prediction\Debug\BuildLog.htm

?????文件??????60164??2009-07-23?09:26??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Track?Prediction\Debug\Kalman_Filter.obj

?????文件?????????69??2009-07-23?09:57??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Track?Prediction\Debug\mt.dep

?????文件????????663??2009-06-15?19:17??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Track?Prediction\Debug\Track?Prediction.exe.embed.manifest

?????文件????????728??2009-06-15?19:17??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Track?Prediction\Debug\Track?Prediction.exe.embed.manifest.res

?????文件????????621??2009-07-23?09:57??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Track?Prediction\Debug\Track?Prediction.exe.intermediate.manifest

?????文件??????75321??2009-07-23?09:57??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Track?Prediction\Debug\Track?Prediction.obj

?????文件??????44529??2009-07-19?17:33??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Track?Prediction\Debug\Track.obj

?????文件?????240640??2009-07-23?09:57??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Track?Prediction\Debug\vc90.idb

?????文件?????217088??2009-07-23?09:57??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Track?Prediction\Debug\vc90.pdb

?????文件??????15702??2009-07-23?09:25??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Track?Prediction\Kalman_Filter.cpp

?????文件???????1549??2009-06-15?16:34??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Track?Prediction\Kalman_Filter.h

?????文件???????1356??2009-04-27?17:21??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Track?Prediction\ReadMe.txt

?????文件????????303??2009-04-27?17:21??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Track?Prediction\stdafx.cpp

?????文件????????320??2009-04-27?17:21??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Track?Prediction\stdafx.h

?????文件????????765??2009-04-27?17:21??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Track?Prediction\targetver.h

?????文件??????16856??2009-07-23?09:57??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Track?Prediction\Track?Prediction.cpp

?????文件??????20163??2009-07-19?17:31??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Track?Prediction\Track?Prediction.h

?????文件???????4289??2009-06-03?00:02??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Track?Prediction\Track?Prediction.vcproj

?????文件???????1427??2009-07-29?17:36??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Track?Prediction\Track?Prediction.vcproj.4C3A2BE6FCE647A.zhaoliang.user

?????文件???????5598??2009-07-19?17:33??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Track?Prediction\Track.cpp

?????文件????????767??2009-06-15?19:16??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Track?Prediction\Track.h

?????文件????2296832??2009-07-29?17:36??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Track?Prediction.ncb

?????文件????????914??2009-04-27?17:59??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Track?Prediction.sln

????..A..H.?????38912??2009-07-29?17:36??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Track?Prediction.suo

?????目錄??????????0??2009-07-23?09:57??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Track?Prediction\Debug

?????目錄??????????0??2009-07-23?09:52??Track?Predictingbased?On?Class\Track?Prediction?based?on?unstable?period\Track?Prediction\Debug

............此處省略8個文件信息

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