本程序的性能已经达到较高水平，多抽样率信号处理，重要参数的提取，各种kalman滤波器的设计，对于初学者具有参考意义，在matlab R2009b调试通过。-The performance of the program has reached a high level, Multirate signal processing, Extract important parameters, Various kalman filter design, For beginners with a reference value, In matlab R2009b debugging through.