卡尔曼滤波器和平滑器的最优滤波器，matlab工具手册。-Kalman filter and smoother optimal filter, matlab toolkit.

发散的一个新的Rauch-Tung-Striebel形式容积卡尔曼平滑了非线性状态空间模型采用求容积法为最优平滑转换-A new form of Rauch-Tung-Striebel volume divergence Kalman smoother nonlinear state space model using the volumetric method for seeking the optimal smooth transition