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- 用卡尔曼滤波法,虽然刚开始的初始高度协方差很大为100,但通过2步之后减小到不超过1,逐渐接近于0-Kalman filtering method, although the beginning of the initial height of 100 covariance great, but by following the two-step reduced to no more than 1, and gradually close to 0