kalmanhlmodeinitial

代码说明：

  加深对卡尔曼滤波算法的理解，了解卡尔曼滤波器算法的基本特点，掌握卡尔曼滤波算法应用研究的基本步骤和方法(deepen the Kalman filter algorithm understanding, knowledge Kalman Filter algorithm for the basic features, master Kalman filtering algorithm applied research on the basic steps and methods)