C#版的卡尔曼滤波(KalmanFilter) 用于对读取自传感器的采集值进行滤波

改编自Wouter Bulten的Java版代码 https://github.com/wouterbulten/kalmanjs/tree/master/contrib

示例代码

/// <summary>
	/// kalman滤波测试1
	/// </summary>
	[System.Diagnostics.Conditional("DEBUG")]
	public static void TestKalmanFilter1()
	{
		Console.WriteLine("FilterKalman Usage");

		FilterKalman test = new FilterKalman(0.008, 0.1);
		double[] testData = { 66, 64, 63, 63, 63, 66, 65, 67, 58 };
		foreach (var x in testData) {
			Console.WriteLine("Input data: {0:#,##0.00}, Filtered data:{1:#,##0.000}", x, test.filter(x));
		}
	}

	/// <summary>
	/// Example Usage with controlled input
	/// </summary>
	[System.Diagnostics.Conditional("DEBUG")]
	public static void TestKalmanFilterWithControlled()
	{
		Console.WriteLine("FilterKalman Usage with controlled input");

		FilterKalman test = new FilterKalman(0.008, 0.1, 1, 1, 1);
		double[] testData = { 66, 64, 63, 63, 63, 66, 65, 67, 58 };
		double u = 0.2;
		foreach (var x in testData) {
			Console.WriteLine("Input data: {0:#,##0.00}, Filtered data:{1:#,##0.000}", x, test.filter(x, u));
		}

	}