本程序主要针对普通的滤波程序进行仿真，主要为目标运动的轨迹估计，相对于之前的程序这次在观测信号中含有距离、速度信息！ 程序正确完整，适合了解卡尔曼的同事学习交流！(This program is mainly for ordinary filter program simulation, mainly for target motion trajectory estimation, compared with previous procedures, this observation contains distance and speed information. The procedure is correct and complete. It is suitable for understanding Calman's colleagues to learn and communicate.)