0.0, ekk = 0.0;//估计误差
Mat_ xM(xN, 1, x), yM(xN, 1, y), pM(pN, 1, p0), JM, yEM, yEMM, dM, gM, dMM...64F));
if (solve(NM, gM, dpM))
{
Mat_ pMM = pM + dpM;
yEMM = yEstimate(pMM, xM);
dMM...= yM - yEMM;
ekk = dMM.dot(dMM);
//outData(fs, dMM, "dlm.xml");
//outData(fs, dpM, "dp.xml"...0.0, ekk = 0.0;//估计误差
Mat_ xM(xN, 1, x), yM(xN, 1, y), pM(pN, 1, p0), JM, yEM, yEMM, dM, gM, dMM...= yM - yEMM;
ekk = dMM.dot(dMM);
//outData(fs, dMM, "dlm.xml");
//outData(fs, dpM, "dp.xml"