residualR

代码说明：

  扩展卡尔曼与粒子滤波结合的程序,用扩展卡尔曼作为提议分布，然后利用粒子滤波进行滤波跟踪，效果比常用的粒子滤波要好！均方根误差也比较小。(Extended Kalman particle filter in conjunction with a program, as proposed by the extended Kalman distribution and particle filter for filtering track, the effect is better than the commonly used particle filter! RMS error is relatively small.)