使用离散卡尔曼滤波的边际安全的轨迹预测。提出了一个结合三种不同类型的传感器系统，准确地跟踪一个人的运动轨迹，并预测非法路径，能有效拦截非法入侵企图。-The use of discrete Calman filtering of marginal safety trajectory prediction. Proposes a combination of three different types of sensor system, accurately track the trajector