在线性系统中，Kalman滤波是最优滤波器，其处理高斯的系统也非常有效。目前Kalman滤波理论已广泛应用于国防、军事、跟踪等领域。-In a linear system, Kalman filtering is the optimal filter, and its processing Gaussian system is also very effective. Kalman filtering theory has been widely used in defense, militar