{"id":101795,"date":"2026-09-07T16:56:58","date_gmt":"2026-09-07T08:56:58","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/101795.html"},"modified":"2026-09-07T16:56:58","modified_gmt":"2026-09-07T08:56:58","slug":"c-%e6%9e%84%e9%80%a0%e5%87%bd%e6%95%b0%e8%a7%a3%e6%9e%90%ef%bc%9a%e4%bb%a5-kalmanfilter-%e4%b8%ba%e4%be%8b","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/101795.html","title":{"rendered":"C++ \u6784\u9020\u51fd\u6570\u89e3\u6790\uff1a\u4ee5 KalmanFilter \u4e3a\u4f8b"},"content":{"rendered":"<p>\u672c\u6587\u6574\u7406\u81ea SLAM \/ \u673a\u5668\u4eba\u9879\u76ee\u4e2d\u5bf9 KalmanFilter \u6784\u9020\u51fd\u6570\u7684\u8ba8\u8bba&#xff0c;\u6db5\u76d6\u6784\u9020\u51fd\u6570\u8bed\u6cd5\u3001\u4f20\u53c2\u65b9\u5f0f\u3001\u521d\u59cb\u5316\u5217\u8868\u3001const \u5f15\u7528\u7b49\u6838\u5fc3 C&#043;&#043; \u77e5\u8bc6\u70b9\u3002<\/p>\n<hr \/>\n<h3>\u4e00\u3001\u95ee\u9898\u4ee3\u7801<\/h3>\n<p>\u5728 Eigen \u5e93&#xff08;MatrixXd \u52a8\u6001\u77e9\u9635&#xff09;\u80cc\u666f\u4e0b&#xff0c;\u5e38\u89c1\u7684\u5361\u5c14\u66fc\u6ee4\u6ce2\u7c7b\u6784\u9020\u51fd\u6570\u5199\u6cd5\u5982\u4e0b&#xff1a;<\/p>\n<p><span class=\"token keyword\">class<\/span> <span class=\"token class-name\">KalmanFilter<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token keyword\">public<\/span><span class=\"token operator\">:<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u6784\u9020\u51fd\u6570&#xff1a;\u521d\u59cb\u5316<\/span><br \/>\n    <span class=\"token function\">KalmanFilter<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">const<\/span> MatrixXd<span class=\"token operator\">&amp;<\/span> A_<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">const<\/span> MatrixXd<span class=\"token operator\">&amp;<\/span> B_<span class=\"token punctuation\">,<\/span><br \/>\n                 <span class=\"token keyword\">const<\/span> MatrixXd<span class=\"token operator\">&amp;<\/span> H_<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">const<\/span> MatrixXd<span class=\"token operator\">&amp;<\/span> Q_<span class=\"token punctuation\">,<\/span><br \/>\n                 <span class=\"token keyword\">const<\/span> MatrixXd<span class=\"token operator\">&amp;<\/span> R_<span class=\"token punctuation\">)<\/span><br \/>\n        <span class=\"token operator\">:<\/span> <span class=\"token function\">A<\/span><span class=\"token punctuation\">(<\/span>A_<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token function\">B<\/span><span class=\"token punctuation\">(<\/span>B_<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token function\">H<\/span><span class=\"token punctuation\">(<\/span>H_<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token function\">Q<\/span><span class=\"token punctuation\">(<\/span>Q_<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token function\">R<\/span><span class=\"token punctuation\">(<\/span>R_<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>\u8fd9\u6bb5\u4ee3\u7801\u62c6\u6210\u4e0a\u534a\u90e8\u5206&#xff08;\u53c2\u6570&#xff09;\u548c\u4e0b\u534a\u90e8\u5206&#xff08;\u521d\u59cb\u5316\u5217\u8868&#xff09;&#xff0c;\u5404\u81ea\u6709\u8bb2\u7a76\u3002<\/p>\n<hr \/>\n<h3>\u4e8c\u3001\u4e0a\u534a\u90e8\u5206&#xff1a;\u53c2\u6570 const MatrixXd&amp;<\/h3>\n<p><span class=\"token function\">KalmanFilter<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">const<\/span> MatrixXd<span class=\"token operator\">&amp;<\/span> A_<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">const<\/span> MatrixXd<span class=\"token operator\">&amp;<\/span> B_<span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">.<\/span><span class=\"token punctuation\">.<\/span><span class=\"token punctuation\">.<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>\u8fd9\u662f\u4f20\u53c2\u65b9\u5f0f&#xff1a;const &#043; \u5f15\u7528&#xff08;&amp;&#xff09; \u7684\u7ec4\u5408\u3002<\/p>\n<h4>1. \u5f15\u7528 &amp; \u2014\u2014 \u4e3a\u4e86\u6027\u80fd<\/h4>\n<p>MatrixXd \u662f\u77e9\u9635&#xff0c;\u53ef\u80fd\u5305\u542b\u5927\u91cf\u6570\u636e&#xff08;\u5982 100\u00d7100&#xff09;\u3002\u5982\u679c\u53ea\u5199 MatrixXd A_&#xff08;\u6309\u503c\u4f20\u9012&#xff09;&#xff0c;C&#043;&#043; \u4f1a\u5728\u8c03\u7528\u65f6\u62f7\u8d1d\u4e00\u6574\u4efd\u77e9\u9635&#xff0c;\u6781\u5176\u6d88\u8017\u5185\u5b58\u548c\u65f6\u95f4\u3002<\/p>\n<p>\u52a0\u4e0a &amp; \u53d8\u6210\u5f15\u7528&#xff0c;\u76f8\u5f53\u4e8e\u53ea\u4f20\u77e9\u9635\u7684&#034;\u5730\u5740&#034;&#xff0c;\u96f6\u62f7\u8d1d\u5f00\u9500\u3002<\/p>\n<h4>2. const \u2014\u2014 \u4e3a\u4e86\u5b89\u5168<\/h4>\n<p>\u65e2\u7136\u53ea\u4f20\u4e86\u5730\u5740&#xff08;\u5f15\u7528&#xff09;&#xff0c;\u6784\u9020\u51fd\u6570\u5185\u90e8\u5c31\u6709\u53ef\u80fd\u610f\u5916\u4fee\u6539\u5916\u90e8\u7684\u539f\u59cb\u77e9\u9635\u3002\u52a0\u4e0a const \u5c31\u662f\u5411\u7f16\u8bd1\u5668\u548c\u7a0b\u5e8f\u5458\u627f\u8bfa&#xff1a;<\/p>\n<p>\u201c\u6211\u53ea\u5728\u6784\u9020\u51fd\u6570\u91cc\u8bfb\u8fd9\u4e9b\u77e9\u9635\u7684\u503c&#xff0c;\u7edd\u4e0d\u4fee\u6539\u5b83\u4eec\u3002\u201d<\/p>\n<p>\u4e00\u53e5\u8bdd&#xff1a;const T&amp; \u662f C&#043;&#043; \u4e2d\u4f20\u9012\u5927\u5bf9\u8c61\u7684\u9ec4\u91d1\u6cd5\u5219\u2014\u2014\u65e2\u907f\u514d\u62f7\u8d1d&#xff0c;\u53c8\u4fdd\u8bc1\u53ea\u8bfb\u3002<\/p>\n<hr \/>\n<h3>\u4e09\u3001\u4e0b\u534a\u90e8\u5206&#xff1a;\u521d\u59cb\u5316\u5217\u8868 : A(A_), &#8230;<\/h3>\n<p><span class=\"token operator\">:<\/span> <span class=\"token function\">A<\/span><span class=\"token punctuation\">(<\/span>A_<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token function\">B<\/span><span class=\"token punctuation\">(<\/span>B_<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token function\">H<\/span><span class=\"token punctuation\">(<\/span>H_<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token function\">Q<\/span><span class=\"token punctuation\">(<\/span>Q_<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token function\">R<\/span><span class=\"token punctuation\">(<\/span>R_<span class=\"token punctuation\">)<\/span><\/p>\n<p>\u5192\u53f7 : \u540e\u9762\u7684\u90e8\u5206\u53eb\u505a\u6210\u5458\u521d\u59cb\u5316\u5217\u8868\u3002<\/p>\n<h4>\u4e3a\u4ec0\u4e48\u8981\u8fd9\u4e48\u5199&#xff1f;&#xff08;\u800c\u4e0d\u662f\u5728 {} \u91cc\u8d4b\u503c&#xff09;<\/h4>\n<h5>\u2460 \u6027\u80fd\u66f4\u9ad8<\/h5>\n<p>\u5982\u679c\u5728\u6784\u9020\u51fd\u6570\u5927\u62ec\u53f7 {} \u91cc\u5199 this-&gt;A &#061; A_;&#xff0c;\u8fd9\u53eb\u8d4b\u503c\u3002\u5bf9\u4e8e\u7c7b\u7c7b\u578b\u6210\u5458&#xff08;\u5982\u77e9\u9635&#xff09;&#xff0c;\u4f1a\u5bfc\u81f4&#xff1a;<\/p>\n<li>\u77e9\u9635\u5148\u88ab\u9ed8\u8ba4\u6784\u9020&#xff08;\u521d\u59cb\u5316\u4e3a\u7a7a&#xff09;\u2014\u2014 \u7b2c\u4e00\u6b21\u5f00\u9500<\/li>\n<li>\u518d\u88ab\u8d4b\u503c \u2014\u2014 \u7b2c\u4e8c\u6b21\u5f00\u9500<\/li>\n<p>\u800c\u7528\u521d\u59cb\u5316\u5217\u8868&#xff0c;\u77e9\u9635\u4f1a\u76f4\u63a5\u8c03\u7528\u62f7\u8d1d\u6784\u9020\u51fd\u6570\u4e00\u6b65\u5230\u4f4d&#xff0c;\u53ea\u6709\u4e00\u6b21\u5f00\u9500\u3002<\/p>\n<h5>\u2461 \u67d0\u4e9b\u6210\u5458\u5fc5\u987b\u8fd9\u4e48\u5199<\/h5>\n<p>\u5982\u679c\u7c7b\u91cc\u6709 const \u5e38\u91cf\u6210\u5458\u6216\u5f15\u7528\u6210\u5458&#xff0c;\u5b83\u4eec\u5fc5\u987b\u5728\u5bf9\u8c61\u521b\u5efa\u7684\u90a3\u4e00\u77ac\u95f4\u5c31\u7ed1\u5b9a\u521d\u59cb\u503c&#xff0c;\u4e0d\u80fd\u5728 {} \u91cc\u518d\u8d4b\u503c\u3002\u7528\u521d\u59cb\u5316\u5217\u8868\u662f\u552f\u4e00\u9009\u62e9\u3002<\/p>\n<h5>\u2462 \u5927\u62ec\u53f7 {} \u4e3a\u7a7a<\/h5>\n<p>\u8bf4\u660e\u8fd9\u4e2a\u6784\u9020\u51fd\u6570\u53ea\u9700\u8981\u5b8c\u6210\u521d\u59cb\u5316&#xff0c;\u4e0d\u9700\u8981\u6267\u884c\u5176\u4ed6\u590d\u6742\u903b\u8f91&#xff08;\u5982\u6253\u5370\u65e5\u5fd7\u3001\u5f00\u7ebf\u7a0b\u7b49&#xff09;&#xff0c;\u6240\u4ee5\u51fd\u6570\u4f53\u7559\u7a7a\u3002<\/p>\n<hr \/>\n<h3>\u56db\u3001\u5927\u767d\u8bdd\u7406\u89e3&#xff1a;\u8fd9\u4e2a\u6784\u9020\u51fd\u6570\u5728\u505a\u4ec0\u4e48&#xff1f;<\/h3>\n<p>\u5361\u5c14\u66fc\u6ee4\u6ce2\u7b97\u6cd5\u9700\u8981\u51e0\u4e2a\u56fa\u5b9a\u7684\u6838\u5fc3\u77e9\u9635&#xff1a;<\/p>\n<table>\n<tr>\u77e9\u9635\u542b\u4e49<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">A<\/td>\n<td align=\"left\">\u72b6\u6001\u8f6c\u79fb\u77e9\u9635<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">B<\/td>\n<td align=\"left\">\u63a7\u5236\u8f93\u5165\u77e9\u9635<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">H<\/td>\n<td align=\"left\">\u89c2\u6d4b\u77e9\u9635<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">Q<\/td>\n<td align=\"left\">\u8fc7\u7a0b\u566a\u58f0\u534f\u65b9\u5dee<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">R<\/td>\n<td align=\"left\">\u89c2\u6d4b\u566a\u58f0\u534f\u65b9\u5dee<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u8fd9\u6bb5\u4ee3\u7801\u7684\u610f\u601d\u662f&#xff1a;<\/p>\n<p>\u201c\u5728\u521b\u5efa\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\u5bf9\u8c61\u65f6&#xff0c;\u8bf7\u628a\u8fd9 5 \u4e2a\u77e9\u9635\u539f\u5c01\u4e0d\u52a8&#xff08;\u4e0d\u62f7\u8d1d\u3001\u4e0d\u4fee\u6539&#xff09;\u5730\u501f\u7ed9\u6211&#xff0c;\u6211\u7528\u5b83\u4eec\u6765\u521d\u59cb\u5316\u6211\u5185\u90e8\u7684\u6210\u5458\u53d8\u91cf&#xff0c;\u641e\u5b9a\u540e\u6784\u9020\u51fd\u6570\u5c31\u5b8c\u5de5\u4e86\u3002\u201d<\/p>\n<hr \/>\n<h3>\u4e94\u3001\u77e5\u8bc6\u5ef6\u4f38&#xff1a;const \u5f15\u7528\u53c2\u6570\u7684\u901a\u7528\u6cd5\u5219<\/h3>\n<p>const T&amp; \u4e0d\u4ec5\u7528\u4e8e\u6784\u9020\u51fd\u6570&#xff0c;\u800c\u662f C&#043;&#043; \u4e2d\u4f20\u9012\u4efb\u4f55\u5927\u5bf9\u8c61\u7684\u901a\u7528\u89c4\u8303&#xff1a;<\/p>\n<p><span class=\"token comment\">\/\/ \u53ea\u8bfb\u5927\u5bf9\u8c61 \u2192 \u7528 const \u5f15\u7528<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">process<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">const<\/span> MatrixXd<span class=\"token operator\">&amp;<\/span> data<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u9700\u8981\u4fee\u6539\u5bf9\u8c61 \u2192 \u7528\u666e\u901a\u5f15\u7528&#xff08;\u4e0d\u52a0 const&#xff09;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">modify<\/span><span class=\"token punctuation\">(<\/span>MatrixXd<span class=\"token operator\">&amp;<\/span> data<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u5c0f\u5bf9\u8c61&#xff08;int\u3001double\u3001\u6307\u9488&#xff09;\u2192 \u76f4\u63a5\u6309\u503c\u4f20\u9012\u5373\u53ef&#xff0c;\u65e0\u9700\u5f15\u7528<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">setCount<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">int<\/span> count<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>\u6838\u5fc3\u539f\u5219&#xff1a;<\/p>\n<ul>\n<li>\u5bf9\u8c61\u8f83\u5927&#xff08;\u77e9\u9635\u3001\u5bb9\u5668\u3001\u81ea\u5b9a\u4e49\u7c7b&#xff09;\u2192 const T&amp;<\/li>\n<li>\u5bf9\u8c61\u5f88\u5c0f&#xff08;\u5185\u7f6e\u7c7b\u578b&#xff09;\u2192 T<\/li>\n<li>\u9700\u8981\u4fee\u6539\u4f20\u5165\u5bf9\u8c61 \u2192 T&amp;&#xff08;\u53bb\u6389 const&#xff09;<\/li>\n<\/ul>\n<hr \/>\n<h3>\u516d\u3001\u603b\u7ed3<\/h3>\n<table>\n<tr>\u8bed\u6cd5\u70b9\u4f5c\u7528<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">const T&amp;<\/td>\n<td align=\"left\">\u53ea\u8bfb\u5f15\u7528&#xff0c;\u907f\u514d\u62f7\u8d1d &#043; \u4fdd\u8bc1\u5b89\u5168<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u521d\u59cb\u5316\u5217\u8868 : x(y)<\/td>\n<td align=\"left\">\u9ad8\u6548\u521d\u59cb\u5316\u6210\u5458&#xff0c;\u4e00\u6b65\u5230\u4f4d<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u7a7a\u51fd\u6570\u4f53 {}<\/td>\n<td align=\"left\">\u6784\u9020\u51fd\u6570\u53ea\u9700\u521d\u59cb\u5316&#xff0c;\u65e0\u989d\u5916\u903b\u8f91<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u547d\u540d\u7ea6\u5b9a A_<\/td>\n<td align=\"left\">\u53c2\u6570\u540d\u52a0\u4e0b\u5212\u7ebf\u540e\u7f00&#xff0c;\u4e0e\u6210\u5458 A \u533a\u5206<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u638c\u63e1\u8fd9\u5957\u5199\u6cd5&#xff0c;\u4e0d\u4ec5 KalmanFilter&#xff0c;\u4efb\u4f55 C&#043;&#043; \u7c7b\u7684\u6784\u9020\u51fd\u6570\u90fd\u80fd\u5199\u5f97\u89c4\u8303\u3001\u9ad8\u6548\u3001\u5b89\u5168\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u672c\u6587\u6574\u7406\u81ea SLAM \/ \u673a\u5668\u4eba\u9879\u76ee\u4e2d\u5bf9 KalmanFilter \u6784\u9020\u51fd\u6570\u7684\u8ba8\u8bba&#xff0c;\u6db5\u76d6\u6784\u9020\u51fd\u6570\u8bed\u6cd5\u3001\u4f20\u53c2\u65b9\u5f0f\u3001\u521d\u59cb\u5316\u5217\u8868\u3001const \u5f15\u7528\u7b49\u6838\u5fc3 C \u77e5\u8bc6\u70b9\u3002\u4e00\u3001\u95ee\u9898\u4ee3\u7801<br \/>\n\u5728 Eigen \u5e93&#xff08;MatrixXd \u52a8\u6001\u77e9\u9635&#xff09;\u80cc\u666f\u4e0b&#xff0c;\u5e38\u89c1\u7684\u5361\u5c14\u66fc\u6ee4\u6ce2\u7c7b\u6784\u9020\u51fd\u6570\u5199\u6cd5\u5982\u4e0b&#xff1a;<br \/>\nclass KalmanFilter {<br \/>\npublic:\/\/ \u6784\u9020\u51fd\u6570&#xff1a;\u521d\u59cb\u5316KalmanFilter(const Matrix<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[55,190],"topic":[],"class_list":["post-101795","post","type-post","status-publish","format-standard","hentry","category-server","tag-c","tag-190"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v20.3 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>C++ \u6784\u9020\u51fd\u6570\u89e3\u6790\uff1a\u4ee5 KalmanFilter \u4e3a\u4f8b - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/101795.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"C++ \u6784\u9020\u51fd\u6570\u89e3\u6790\uff1a\u4ee5 KalmanFilter \u4e3a\u4f8b - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"og:description\" content=\"\u672c\u6587\u6574\u7406\u81ea SLAM \/ \u673a\u5668\u4eba\u9879\u76ee\u4e2d\u5bf9 KalmanFilter \u6784\u9020\u51fd\u6570\u7684\u8ba8\u8bba&#xff0c;\u6db5\u76d6\u6784\u9020\u51fd\u6570\u8bed\u6cd5\u3001\u4f20\u53c2\u65b9\u5f0f\u3001\u521d\u59cb\u5316\u5217\u8868\u3001const \u5f15\u7528\u7b49\u6838\u5fc3 C \u77e5\u8bc6\u70b9\u3002\u4e00\u3001\u95ee\u9898\u4ee3\u7801 \u5728 Eigen \u5e93&#xff08;MatrixXd \u52a8\u6001\u77e9\u9635&#xff09;\u80cc\u666f\u4e0b&#xff0c;\u5e38\u89c1\u7684\u5361\u5c14\u66fc\u6ee4\u6ce2\u7c7b\u6784\u9020\u51fd\u6570\u5199\u6cd5\u5982\u4e0b&#xff1a; class KalmanFilter { public:\/\/ \u6784\u9020\u51fd\u6570&#xff1a;\u521d\u59cb\u5316KalmanFilter(const Matrix\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.wsisp.com\/helps\/101795.html\" \/>\n<meta property=\"og:site_name\" content=\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"article:published_time\" content=\"2026-09-07T08:56:58+00:00\" \/>\n<meta name=\"author\" content=\"admin\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u4f5c\u8005\" \/>\n\t<meta name=\"twitter:data1\" content=\"admin\" \/>\n\t<meta name=\"twitter:label2\" content=\"\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4\" \/>\n\t<meta name=\"twitter:data2\" content=\"1 \u5206\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/101795.html\",\"url\":\"https:\/\/www.wsisp.com\/helps\/101795.html\",\"name\":\"C++ \u6784\u9020\u51fd\u6570\u89e3\u6790\uff1a\u4ee5 KalmanFilter \u4e3a\u4f8b - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\",\"isPartOf\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/#website\"},\"datePublished\":\"2026-09-07T08:56:58+00:00\",\"dateModified\":\"2026-09-07T08:56:58+00:00\",\"author\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41\"},\"breadcrumb\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/101795.html#breadcrumb\"},\"inLanguage\":\"zh-Hans\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\/\/www.wsisp.com\/helps\/101795.html\"]}]},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/101795.html#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"\u9996\u9875\",\"item\":\"https:\/\/www.wsisp.com\/helps\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"C++ \u6784\u9020\u51fd\u6570\u89e3\u6790\uff1a\u4ee5 KalmanFilter \u4e3a\u4f8b\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/#website\",\"url\":\"https:\/\/www.wsisp.com\/helps\/\",\"name\":\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\",\"description\":\"\u9999\u6e2f\u670d\u52a1\u5668_\u9999\u6e2f\u4e91\u670d\u52a1\u5668\u8d44\u8baf_\u670d\u52a1\u5668\u5e2e\u52a9\u6587\u6863_\u670d\u52a1\u5668\u6559\u7a0b\",\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\/\/www.wsisp.com\/helps\/?s={search_term_string}\"},\"query-input\":\"required name=search_term_string\"}],\"inLanguage\":\"zh-Hans\"},{\"@type\":\"Person\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41\",\"name\":\"admin\",\"image\":{\"@type\":\"ImageObject\",\"inLanguage\":\"zh-Hans\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/image\/\",\"url\":\"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery\",\"contentUrl\":\"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery\",\"caption\":\"admin\"},\"sameAs\":[\"http:\/\/wp.wsisp.com\"],\"url\":\"https:\/\/www.wsisp.com\/helps\/author\/admin\"}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"C++ \u6784\u9020\u51fd\u6570\u89e3\u6790\uff1a\u4ee5 KalmanFilter \u4e3a\u4f8b - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/www.wsisp.com\/helps\/101795.html","og_locale":"zh_CN","og_type":"article","og_title":"C++ \u6784\u9020\u51fd\u6570\u89e3\u6790\uff1a\u4ee5 KalmanFilter \u4e3a\u4f8b - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","og_description":"\u672c\u6587\u6574\u7406\u81ea SLAM \/ \u673a\u5668\u4eba\u9879\u76ee\u4e2d\u5bf9 KalmanFilter \u6784\u9020\u51fd\u6570\u7684\u8ba8\u8bba&#xff0c;\u6db5\u76d6\u6784\u9020\u51fd\u6570\u8bed\u6cd5\u3001\u4f20\u53c2\u65b9\u5f0f\u3001\u521d\u59cb\u5316\u5217\u8868\u3001const \u5f15\u7528\u7b49\u6838\u5fc3 C \u77e5\u8bc6\u70b9\u3002\u4e00\u3001\u95ee\u9898\u4ee3\u7801 \u5728 Eigen \u5e93&#xff08;MatrixXd \u52a8\u6001\u77e9\u9635&#xff09;\u80cc\u666f\u4e0b&#xff0c;\u5e38\u89c1\u7684\u5361\u5c14\u66fc\u6ee4\u6ce2\u7c7b\u6784\u9020\u51fd\u6570\u5199\u6cd5\u5982\u4e0b&#xff1a; class KalmanFilter { public:\/\/ \u6784\u9020\u51fd\u6570&#xff1a;\u521d\u59cb\u5316KalmanFilter(const Matrix","og_url":"https:\/\/www.wsisp.com\/helps\/101795.html","og_site_name":"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","article_published_time":"2026-09-07T08:56:58+00:00","author":"admin","twitter_card":"summary_large_image","twitter_misc":{"\u4f5c\u8005":"admin","\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4":"1 \u5206"},"schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"WebPage","@id":"https:\/\/www.wsisp.com\/helps\/101795.html","url":"https:\/\/www.wsisp.com\/helps\/101795.html","name":"C++ \u6784\u9020\u51fd\u6570\u89e3\u6790\uff1a\u4ee5 KalmanFilter \u4e3a\u4f8b - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","isPartOf":{"@id":"https:\/\/www.wsisp.com\/helps\/#website"},"datePublished":"2026-09-07T08:56:58+00:00","dateModified":"2026-09-07T08:56:58+00:00","author":{"@id":"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41"},"breadcrumb":{"@id":"https:\/\/www.wsisp.com\/helps\/101795.html#breadcrumb"},"inLanguage":"zh-Hans","potentialAction":[{"@type":"ReadAction","target":["https:\/\/www.wsisp.com\/helps\/101795.html"]}]},{"@type":"BreadcrumbList","@id":"https:\/\/www.wsisp.com\/helps\/101795.html#breadcrumb","itemListElement":[{"@type":"ListItem","position":1,"name":"\u9996\u9875","item":"https:\/\/www.wsisp.com\/helps"},{"@type":"ListItem","position":2,"name":"C++ \u6784\u9020\u51fd\u6570\u89e3\u6790\uff1a\u4ee5 KalmanFilter \u4e3a\u4f8b"}]},{"@type":"WebSite","@id":"https:\/\/www.wsisp.com\/helps\/#website","url":"https:\/\/www.wsisp.com\/helps\/","name":"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","description":"\u9999\u6e2f\u670d\u52a1\u5668_\u9999\u6e2f\u4e91\u670d\u52a1\u5668\u8d44\u8baf_\u670d\u52a1\u5668\u5e2e\u52a9\u6587\u6863_\u670d\u52a1\u5668\u6559\u7a0b","potentialAction":[{"@type":"SearchAction","target":{"@type":"EntryPoint","urlTemplate":"https:\/\/www.wsisp.com\/helps\/?s={search_term_string}"},"query-input":"required name=search_term_string"}],"inLanguage":"zh-Hans"},{"@type":"Person","@id":"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41","name":"admin","image":{"@type":"ImageObject","inLanguage":"zh-Hans","@id":"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/image\/","url":"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery","contentUrl":"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery","caption":"admin"},"sameAs":["http:\/\/wp.wsisp.com"],"url":"https:\/\/www.wsisp.com\/helps\/author\/admin"}]}},"_links":{"self":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/posts\/101795","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/comments?post=101795"}],"version-history":[{"count":0,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/posts\/101795\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/media?parent=101795"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/categories?post=101795"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/tags?post=101795"},{"taxonomy":"topic","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/topic?post=101795"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}