Simulate GPS tracking Object 2D and smooth its obits by kalman filter.

发散的一个新的Rauch-Tung-Striebel形式容积卡尔曼平滑了非线性状态空间模型采用求容积法为最优平滑转换-A new form of Rauch-Tung-Striebel volume divergence kalman smoother nonlinear state space model using the volumetric method for seeking the optimal smooth transition

On the basis of kalman filter, the raw data signal can be converted to a more smooth signal.