Kalman filtering，卡尔曼滤波，本人用于智能车平衡组的角度滤波，滤波效果可观，鲁棒性强，调试时可观察波形来调整参数。(Kalman, filtering, Calman filtering, I used for intelligent vehicle balance group angle filtering, filtering effect is considerable, robustness, debugging can observe the waveform to adjust parameters.)