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1、TrackingandKalmanFilteringMadeEasy.EliBrooknerCopyright#1998JohnWiley&Sons,Inc.ISBNs:0-471-18407-1(Hardback);0-471-22419-7(Electronic)TRACKINGANDKALMANFILTERINGMADEEASYTRACKINGANDKALMANFILTERINGMADEEASYELIBROOKNERConsultingScientistRaytheonComp.Sudbury,MAAWiley-Interscien
2、cePublicationJOHNWILEY&SONS,INCNewYork*Chichester*Weinheim*Brisbane*Singapore*TorontoDesignationsusedbycompaniestodistinguishtheirproductsareoftenclaimedastrademarks.InallinstanceswhereJohnWiley&Sons,Inc.,isawareofaclaim,theproductnamesappearininitialcapitalorALLCAPITALLE
3、TTERS.Readers,however,shouldcontacttheappropriatecompaniesformorecompleteinformationregardingtrademarksandregistration.Copyright#1998byJohnWiley&Sons,Inc.Allrightsreserved.Nopartofthispublicationmaybereproduced,storedinaretrievalsystemortransmittedinanyformorbyanymeans,el
4、ectronicormechanical,includinguploading,downloading,printing,decompiling,recordingorotherwise,exceptaspermittedunderSections107or108ofthe1976UnitedStatesCopyrightAct,withoutthepriorwrittenpermissionofthePublisher.RequeststothePublisherforpermissionshouldbeaddressedtothePe
5、rmissionsDepartment,JohnWiley&Sons,Inc.,605ThirdAvenue,NewYork,NY10158-0012,(212)850-6011,fax(212)850-6008,E-Mail:PERMREQ@WILEY.COM.Thispublicationisdesignedtoprovideaccurateandauthoritativeinformationinregardtothesubjectmattercovered.Itissoldwiththeunderstandingthatthepu
6、blisherisnotengagedinrenderingprofessionalservices.Ifprofessionaladviceorotherexpertassistanceisrequired,theservicesofacompetentprofessionalpersonshouldbesought.ISBN0-471-22419-7ThistitleisalsoavailableinprintasISBN0-471-18407-1.FormoreinformationaboutWileyproducts,visito
7、urwebsiteatwww.Wiley.com.ToLarryandVera,RichardandConnie,andDaniel,thelittlemiracleCONTENTSPREFACExiiiACKNOWLEDGMENTxxiPARTITRACKING,PREDICTION,ANDSMOOTHINGBASICS1g–handg–h–kFilters31.1WhyTrackingandPredictionareNeededinaRadar31.2g–hFilters141.2.1SimpleHeruisticDerivation
8、ofg–hTrackingandPredictionEquations141.2.2–Filter231.2.3OtherSpecialTypesofFilters231.2.4Importa
