kalman正弦信号跟踪： 红色为原始状态输出；绿色为量测方程输出；黑色为状态方程输出；蓝色为卡尔曼滤波输出-kalman tracking sinusoidal signals: red output to its original state　green measurement equation output　black output for the equation of state　blue for the Kalman filter output