This is a simple demonstration of the Kalman filtering process, and they hope to help everyone.
这是一个简单的卡尔曼滤波演示程序，希望对大家有所帮助。
2
The whole algorithm conformation is very skilled. Because the number of kalman filter is lesser, algorithm is real-time, and robust.
算法构造巧妙，由于使用了较少的卡尔曼滤波器，算法实时性好，鲁棒性更好。
3
When Kalman filtering cannot track efficiently the state with abrupt changes, MSTKF switches to strong tracking filtering with varying softening factor.