960年，卡尔曼发表了他著名的用递归方法解决离散数据线性滤波

问题的论文。从那以后，得益于数字计算技术的进步，卡尔曼滤波器

已成为推广研究和应用的主题，尤其是在自主或协助导航领域。-960, Kalman published his famous paper describing a recursive solution to the problem of discrete data linear filtering paper. Since then, thanks to advances in digital computing, the Kalman filter has become the subject of extensive research and application, especially in autonomous or assisted navigation.