load initial_track s; % y:initial data,s:data with noiseT=0.1;
% yp denotes the sample value of position% yv denotes the sample value of velocity% Y=[yp(n);yv(n)];% error deviation caused by the random acceleration % known dataY=zeros(2,200);Y0=[0;1];Y(:,1)=Y0;A=[1 T 0 1]; B=[1/2*(T)^2 T]';H=[1 0];
C0=[0 0 0 1];C=[C0 zeros(2,2*199)];Q=(0.25)^2; R=(0.25)^2;
