Простой фильтр Калмана

kalman_filtr.txt

@@ -0,0 +1,22 @@
+http://kazus.ru/forums/showthread.php?p=1025804#
+
+typedef struct
+{
+  float Result;                 //đĺçóëüňčđóţůĺĺ çíŕ÷ĺíčĺ
+  float Value;                  //čńőîäíîĺ çíŕ÷ĺíčĺ
+  float Previous;               //đĺçóëüňŕň âű÷čńëĺíč˙ â ďđĺäűäóůĺé číňĺđŕöčč
+  float K;                      //ęîýôôčöčĺíň ńňŕáčëčçŕöčč, ďî-óěîë÷ŕíčţ = 0.1
+} KalmanFloatTypeDefStruct;
+
+void KalmanFloatCalc (KalmanFloatTypeDefStruct * KalmanFloatStruct)
+{
+  KalmanFloatStruct->Result = KalmanFloatStruct->K * KalmanFloatStruct->Value;
+  KalmanFloatStruct->Value = 1.0 - KalmanFloatStruct->K;
+  KalmanFloatStruct->Previous *= KalmanFloatStruct->Value;
+  KalmanFloatStruct->Result += KalmanFloatStruct->Previous;
+  KalmanFloatStruct->Previous = KalmanFloatStruct->Result;
+}
+
+-=-=-=-=-
+Âç˙ňî îňńţäŕ:
+http://avrproject.ru/publ/poleznaja_informacija/filtr_kalmana_bascom_avr/4-1-0-164