从空中水平抛射出的物体，初始水平速度Vx(0)，初始位置坐标(x(0),y(0))；受重力g和阻尼力影响，阻尼力与速度平方成正比，水平和垂直阻尼系数分别为Kx,Ky,；还存在不确定的零均值白噪声干扰力xa和ya。在坐标原点处有一观测设备(不妨想象成雷达)，可测得距离r(零均值白噪声误差r)、角度(零均值白噪声误差)，使用扩展卡尔曼滤波进行仿真。-The level of throwing objects　the air, the speed of the initial level of Vx (0), the initial position coordinates (x (0), y (0)　g) by gravity and damping force, damping force and velocity is proportional to the square, the horizontal and vertical damping coefficient were Kx, Ky, there are still uncertain　zero mean white noise interference force Xa and ya. One observation equipment in the coordinate origin (imagine a radar), can be measured　the R (zero mean white noise error angle (R), zero mean white noise error), using the extended Calman filter simulation.