扩展卡尔曼滤波（EKF）

首先进行文档下载

仔细阅读文档，理解文档中所述内容。

我对文档的matlab代码进行了简单调整如下：

 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 %日 期： 	2015.10.12
 %程序功能：	使用扩展卡尔曼滤波器(EKF)估计平抛物体的运动
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
kx = .01; ky = .05; 	% 阻尼系数
    g = 9.8; 		% 重力
    t = 10; 		% 仿真时间
    Ts = 0.1; 		% 采样周期
    len = fix(t/Ts);    % 仿真步数
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
    %（真实轨迹模拟）
    dax = 1.5; day = 1.5;  % 系统噪声
    X = zeros(len,4); X(1,:) = [0, 50, 500, 0]; % 状态模拟的初值
    for k=2:len
        x = X(k-1,1); vx = X(k-1,2); y = X(k-