一篇介绍卡尔曼滤波器的中文文章，介绍了离散卡尔曼理论和实用方法，包括卡尔曼滤波器及其衍生，并给出了相关实例。-An introduction of Calman filters in Chinese, introduced the discrete Calman theory and practical methods, including the Calman filter and its derivatives, and gives relevant examples.