 减小字体
 增大字体
（没有测试，输出部分要配合相应的过程）
Dim num1, num2, num3
Dim a(), a1(), e() As Single
Dim alf, xgm(), p(), k1(), k2, k(), p1(), p2(), c(), c1, k3(), k4(), cc() As Single
Private Sub Command1_Click()
CommonDialog1.ShowOpen
Open CommonDialog1.FileName For Input As #1
num3 = Val(Text1.Text) + 2
num2 = Val(Text2.Text)
ReDim a(num3, num2)
For j = 1 To num3
For i = 1 To num2
Input #1, a(j, i)
Next i
Next j
Close #1
End Sub
Private Sub Command2_Click()
CommonDialog1.ShowSave
Open CommonDialog1.FileName For Append As #2
For i = 1 To num2
Print #2, cc(i, 1), cc(i, 2), cc(i, 3)
Next i
Close #2
Shell "c:\windows\notepad " & CommonDialog1.FileName
End Sub
Private Sub Command3_Click()
num1 = Val(Text1.Text) + 1
num2 = Val(Text2.Text)
num3 = Val(Text1.Text) + 2
ReDim a1(num2), e(num1, num2) As Single
ReDim xgm(num1), p(num1, num1), k1(num1), k(num1), p1(num1, num1), p2(num1, num1), c(num1), k3(num1), k4(num1), cc(num2, num1) As Single
c(1) = c(2) = c(3) = 0
r = 0.000001
alf = 10
For j = 1 To num1
For i = 1 To num2
e(j, i) = a(j, i)
a1(i) = a(num3, i)
Next i
Next j
For x = 1 To num1
xgm(x) = alf * Sqr(r / e(x, 1))
p(x, x) = xgm(x) ^ 2
Next x
For q = 1 To num2
For i = 1 To num1
k3(i) = k4(i) = 0
Next i
k2 = 0
For i = 1 To num1
For j = 1 To num1
p1(i, j) = p2(i, j) = 0
Next j
Next i
c1 = 0
For m = 1 To num1
k3(m) = 0
For n = 1 To num1
k3(m) = k3(m) + e(n, q) * p(n, m)
Next n
Next m
For m = 1 To num1
k4(m) = 0
k4(m) = k4(m) + 1000 * k3(m) * e(m, q)
Next m
For i = 1 To num1
k2 = k2 + k4(i)
Next i
For v = 1 To num1
k(v) = 0
k(v) = k3(v) * (k2 / 1000 + r) ^ -1
Next v
For i = 1 To num1
For j = 1 To 3
p1(i, j) = k(i) * e(j, q)
Next j
Next i
For l = 1 To num1
For i = 1 To num1
p2(l, i) = 0
For j = 1 To num1
p2(l, i) = 1000 * p1(l, j) * p(j, i) + p2(l, i)
Next j
Next i
Next l
For i = 1 To num1
For j = 1 To num1
p(i, j) = p(i, j) - p2(i, j) / 1000
Next j
Next i
For i = 1 To num1
c1 = c1 + e(i, q) * c(i)
Next i
For i = 1 To num1
c(i) = c(i) + k(i) * (a1(q) - c1)
Next i
For i = 1 To num1
cc(q, i) = c(i)
Next i
Next q
End Sub
Private Sub Command4_Click()
End
End Sub
End of《vb语言实现的卡尔曼滤波源程序》
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