文件中的代码内容为：卡尔曼滤波算法和Mahony互补滤波算法分别对带噪声的阶跃信号，正弦信号以及杂波信号的滤波处理效果，可用于姿态滤波算法的分析-Code in the file contents: Kalman filter algorithm and Mahony complementary filtering algorithm for filtering effect step signal with noise sinusoidal signal and noise signal ca