The level of throwing objects the air, the speed of the initial level of Vx (0), the initial position coordinates (x (0), y (0) g) by gravity and damping force, damping force and velocity is proportional to the square, the horizontal and vertical damping coefficient were Kx, Ky, there are still uncertain zero mean white noise interference force Xa and ya. One observation equipment in the coordinate origin (imagine a radar), can be measured the R (zero mean white noise error angle (R), zero mean white noise error), using the extended Calman filter simulation.

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