function [xnew, Vnew, loglik, VVnew] = kalman_update(A, C, Q, R, y, x, V, varargin)  %輸出狀態(tài)估計(jì)，方差，協(xié)方差，以及 loglik(見注釋）% KALMAN_UPDATE Do a one step update of the Kalman filter% [xnew, Vnew, loglik] = kalman_update(A, C, Q, R, y, x, V, ...)%% INPUTS:% A - the system matrix% C - the observation matrix % Q - the system covariance % R - the observation covariance% y(:)   - the observation at time t% x(:) - E[X | y(:, 1:t-1)] prior mean% V(:,:) - Cov[X | y(:, 1:t-1)] prior covariance%% OPTIONAL INPUTS (string/value pairs [default in brackets])% 'initial' - 1 means x and V are taken as initial conditions (so A and Q are ignored) [0]% 'u'     - u(:) the control signal at time t [ [] ]% 'B'     - the input regression matrix%% OUTPUTS (where X is the hidden state being estimated)%  xnew(:) =   E[ X | y(:, 1:t) ] %  Vnew(:,:) = Var[ X(t) | y(:, 1:t) ]%  VVnew(:,:) = Cov[ X(t), X(t-1) | y(:, 1:t) ]%  loglik = log P(y(:,t) | y(:,1:t-1)) log-likelihood of innovatio% set default paramsu = [];B = [];initial = 0;args = varargin;for i=1:2:length(args)  switch args{i}   case 'u', u = args{i+1};   case 'B', B = args{i+1};   case 'initial', initial = args{i+1};   otherwise, error(['unrecognized argument ' args{i}])  endend%  xpred(:) = E[X_t+1 | y(:, 1:t)]%  Vpred(:,:) = Cov[X_t+1 | y(:, 1:t)]  %方差if initial  if isempty(u)    xpred = x;  else    xpred = x + B*u;  end  Vpred = V;else  if isempty(u)    xpred = A*x;  else    xpred = A*x + B*u; %狀態(tài)預(yù)測  end  Vpred = A*V*A' + Q;  %方差預(yù)測公式  Pk/k-1=H*Pk-1*H'+Q  ende = y - C*xpred; % error (innovation)n = length(e);ss = length(A);S = C*Vpred*C' + R;Sinv = inv(S);ss = length(V);loglik = gaussian_prob(e, zeros(1,length(e)), S, 1);K = Vpred*C'*Sinv; % Kalman gain matrix    卡爾曼增益矩陣% If there is no observation vector, set K = zeros(ss).xnew = xpred + K*e;      %利用狀態(tài)估計(jì)公式Xk=Xk/k-1+K(Zk-HkXk/k-1)Vnew = (eye(ss) - K*C)*Vpred;%利用方差迭代公式 Pk=[I-KH]*Pk/k-1,更新PkVVnew = (eye(ss) - K*C)*A*V;%  VVnew(:,:) = Cov[ X(t), X(t-1) | y(:, 1:t) ]