利用kalman滤波方法对系统输出信号进行滤波，计算滤波后的误差大小，并将原始信号与滤波信号、观察误差与滤波误差进行了对比。(The Kalman filter is used to filter the output signal of the system and calculate the error size after filtering. The original signal is compared with the filtering signal, the observation error and the filtering error.)