CV、CA、CTRV、CTRA
https://blog.csdn.net/weixin_41480034/article/details/122139545
注:以CV为例,Q的求解为4*4矩阵,实际我们一般认为x与Vx相互独立,所以协方差取0。所以只取x、y、vx、vy的方差
线性卡尔曼
https://blog.csdn.net/victor_zy/article/details/82862904
https://blog.csdn.net/weixin_42301220/article/details/124578094
扩展卡尔曼
https://blog.csdn.net/weixin_42301220/article/details/124605350
无迹卡尔曼
https://blog.csdn.net/weixin_42301220/article/details/124708187
https://blog.csdn.net/baidu_38172402/article/details/83451050