{"id":7988,"date":"2025-05-01T09:12:23","date_gmt":"2025-05-01T00:12:23","guid":{"rendered":"https:\/\/now0930.pe.kr\/wordpress\/?p=7988"},"modified":"2026-10-04T11:16:32","modified_gmt":"2026-10-04T02:16:32","slug":"%ec%b9%bc%eb%a7%8c-%ed%95%84%ed%84%b0","status":"publish","type":"post","link":"https:\/\/now0930.pe.kr\/wordpress\/%ec%b9%bc%eb%a7%8c-%ed%95%84%ed%84%b0\/","title":{"rendered":"\uce7c\ub9cc \ud544\ud130"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">\uce7c\ub9cc\ud544\ud130\ub294 \uc5b4\ub835\uc9c0 \uc54a\uc544 \uc815\ub9ac<\/p>\n\n\n\n<div data-wp-interactive=\"core\/file\" class=\"wp-block-file\"><object data-wp-bind--hidden=\"!state.hasPdfPreview\" hidden class=\"wp-block-file__embed\" data=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/05\/NeoStudio_20250501_020910_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4-\uae30\uc220\uc0ac15.pdf\" type=\"application\/pdf\" style=\"width:100%;height:600px\" aria-label=\"NeoStudio_20250501_020910_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4 \uae30\uc220\uc0ac15\uc758 \uc0bd\uc785.\"><\/object><a id=\"wp-block-file--media-4d7de27d-e7d3-4983-a46b-70d0ba549d27\" href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/05\/NeoStudio_20250501_020910_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4-\uae30\uc220\uc0ac15.pdf\">NeoStudio_20250501_020910_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4 \uae30\uc220\uc0ac15<\/a><a href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/05\/NeoStudio_20250501_020910_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4-\uae30\uc220\uc0ac15.pdf\" class=\"wp-block-file__button wp-element-button\" download aria-describedby=\"wp-block-file--media-4d7de27d-e7d3-4983-a46b-70d0ba549d27\">\ub2e4\uc6b4\ub85c\ub4dc<\/a><\/div>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1115\" height=\"1205\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/05\/image.png\" alt=\"\" class=\"wp-image-7990\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/05\/image.png 1115w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/05\/image-768x830.png 768w\" sizes=\"auto, (max-width: 1115px) 100vw, 1115px\" \/><\/figure>\n\n\n\n<div class=\"chapter19-wide\">\n\n  <h1>\uce7c\ub9cc \ud544\ud130<\/h1>\n\n  <div class=\"subtitle\">\n    Kalman Filter \u00b7 \uc608\uce21\uac12 \u00b7 \uce21\uc815\uac12 \u00b7 \uc624\ucc28 \uacf5\ubd84\uc0b0 \u00b7 Kalman Gain \u00b7 Q \u00b7 R \u00b7 A \u00b7 H\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>1. \uce7c\ub9cc \ud544\ud130\uc758 \uae30\ubcf8 \uad6c\uc870<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294 \uce21\uc815\uac12 z<sub>k<\/sub>\uac00 \uc8fc\uc5b4\uc84c\uc744 \ub54c\n      \uc2dc\uc2a4\ud15c \ubcc0\uc218 x\u0302<sub>k<\/sub>\ub97c \ucd94\uc815\ud558\ub294 \uad6c\uc870\ub85c\n      \uce7c\ub9cc \ud544\ud130\ub97c \uc815\ub9ac\ud55c\ub2e4.\n    <\/p>\n\n    <pre>\n        \uce21\uc815\uac12\n          z_k\n           \u2502\n           \u25bc\n      \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510\n      \u2502   \uc2dc\uc2a4\ud15c      \u2502\n      \u2502               \u2502\n      \u2502 A, H, Q, R    \u2502\n      \u2502 P_k           \u2502\n      \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518\n           \u2502\n           \u25bc\n          x\u0302_k\n\n        x\u0302_k : \ucd94\uc815\uac12\n        z_k  : \uc785\ub825\uac12\n               (\uc13c\uc11c \uce21\uc815)\n    <\/pre>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>2. \uce7c\ub9cc \ud544\ud130\uc758 \uc8fc\uc694 \ubcc0\uc218<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\ub294 A, H, Q, R, P\ub97c\n      \ub2e4\uc74c\uacfc \uac19\uc774 \uae30\ub85d\ud558\uace0 \uc788\ub2e4.\n    <\/p>\n\n    <ul>\n      <li><strong>A, H<\/strong> : \uc2dc\uc2a4\ud15c \ubcc0\uc218\ub97c \uc124\uba85\ud558\ub294 Matrix<\/li>\n      <li><strong>Q<\/strong> : \uc2dc\uc2a4\ud15c Noise<\/li>\n      <li><strong>R<\/strong> : \uc13c\uc11c Noise<\/li>\n      <li><strong>P<\/strong> : \uacf5\ubd84\uc0b0<\/li>\n      <li><strong>z<sub>k<\/sub><\/strong> : \uc13c\uc11c \uce21\uc815\uac12<\/li>\n      <li><strong>x\u0302<sub>k<\/sub><\/strong> : \ucd94\uc815\uac12<\/li>\n    <\/ul>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>3. \ucd08\uae30\uac12 \uc124\uc815<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uce7c\ub9cc \ud544\ud130\uc758 \uccab \ub2e8\uacc4\ub294\n      \ucd08\uae30 \ucd94\uc815\uac12\uacfc \ucd08\uae30 \uc624\ucc28 \uacf5\ubd84\uc0b0\uc744 \uc124\uc815\ud558\ub294 \uac83\uc774\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      x\u0302<sub>0<\/sub>, P<sub>0<\/sub>\n    <\/div>\n\n    <div class=\"memory\">\n      <strong>\n        0. \ucd08\uae30\uac12 \uc120\uc815\n        \u2192\n        x\u0302<sub>0<\/sub>, P<sub>0<\/sub>\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>4. \ucd94\uc815\uac12 \uc608\uce21<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc774\uc804 \uc2dc\uc810\uc758 \ucd94\uc815\uac12\uc5d0\n      \uc2dc\uc2a4\ud15c Matrix A\ub97c \uacf1\ud558\uc5ec\n      \ud604\uc7ac \uc2dc\uc810\uc758 \uac12\uc744 \uc608\uce21\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      x\u0302<sub>k<\/sub><sup>&#8211;<\/sup>\n      =\n      A x\u0302<sub>k-1<\/sub>\n    <\/div>\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294\n      \uc774\uc804 \uce21\uc815\uac12 \ub610\ub294 \uc774\uc804 \ucd94\uc815\uac12\uc744 \uc774\uc6a9\ud558\uc5ec\n      k \uc2dc\uc810\uc758 \uc0c1\ud0dc\ub97c \uc608\uce21\ud558\ub294 \uacfc\uc815\uc73c\ub85c \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>5. \uc624\ucc28 \uacf5\ubd84\uc0b0 \uc608\uce21<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc0c1\ud0dc\ub97c \uc608\uce21\ud560 \ub54c\n      \uc624\ucc28 \uacf5\ubd84\uc0b0\ub3c4 \ud568\uaed8 \uc608\uce21\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      P<sub>k<\/sub><sup>&#8211;<\/sup>\n      =\n      A P<sub>k-1<\/sub> A<sup>T<\/sup> + Q\n    <\/div>\n\n    <p>\n      NeoStudio\uc5d0\ub294 \uc774\uc804 P\ub97c \uc804\ub2ec\ud558\uace0\n      \uc5ec\uae30\uc5d0 Q\ub97c \ub354\ud558\ub294 \ud750\ub984\uc73c\ub85c \uba54\ubaa8\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      \uc774\uc804 P\n      +\n      Q\n      \u2192\n      \uc608\uce21 \uc624\ucc28 \uacf5\ubd84\uc0b0 P<sub>k<\/sub><sup>&#8211;<\/sup>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>6. \uc608\uce21 \ub2e8\uacc4<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uce7c\ub9cc \ud544\ud130\uc758 \uccab \ubc88\uc9f8 \ubc18\ubcf5 \ub2e8\uacc4\ub294\n      \ucd94\uc815\uac12\uacfc \uc624\ucc28 \uacf5\ubd84\uc0b0\uc744 \ud568\uaed8 \uc608\uce21\ud558\ub294 \uacfc\uc815\uc774\ub2e4.\n    <\/p>\n\n    <pre>\n        \uc774\uc804 \ucd94\uc815\uac12\n        x\u0302_(k-1)\n            \u2502\n            \u25bc\n            A\n            \u2502\n            \u25bc\n          x\u0302_k^-\n\n        \uc774\uc804 \uacf5\ubd84\uc0b0\n        P_(k-1)\n            \u2502\n            \u25bc\n       A P A\u1d40 + Q\n            \u2502\n            \u25bc\n          P_k^-\n    <\/pre>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>7. \uce7c\ub9cc \uc774\ub4dd \uacc4\uc0b0<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc608\uce21\ub41c \uc624\ucc28 \uacf5\ubd84\uc0b0\uacfc\n      \uc13c\uc11c Noise\ub97c \uc774\uc6a9\ud558\uc5ec\n      Kalman Gain K<sub>k<\/sub>\ub97c \uacc4\uc0b0\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      K<sub>k<\/sub>\n      =\n      P<sub>k<\/sub><sup>&#8211;<\/sup> H<sup>T<\/sup>\n      (\n      H P<sub>k<\/sub><sup>&#8211;<\/sup> H<sup>T<\/sup> + R\n      )<sup>-1<\/sup>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>8. Q\uc640 R\uc5d0 \ub530\ub978 Kalman Gain<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294 Q\uc640 R\uc758 \ud06c\uae30\uc5d0 \ub530\ub77c\n      Kalman Gain\uc774 \ubcc0\ud558\ub294 \ubc29\ud5a5\uc744 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Q \u2191\n      \u2192\n      K<sub>k<\/sub> \u2191\n    <\/div>\n\n    <div class=\"formula\">\n      R \u2191\n      \u2192\n      K<sub>k<\/sub> \u2193\n    <\/div>\n\n    <p>\n      \ud544\uae30\uc5d0\ub294 K\uc758 \ud06c\uae30\ub97c \uc9c1\uad00\uc801\uc73c\ub85c \uc124\uba85\ud558\uae30 \uc704\ud574\n      Q\uc640 R\uc758 \ube44\uc728\uc744 \uc774\uc6a9\ud55c \uba54\ubaa8\ub3c4 \ub0a8\uaca8\uc838 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"warning\">\n      <strong>\n        Q\/R \ud45c\uae30\ub294 Kalman Gain\uc758 \uc815\ud655\ud55c \uc77c\ubc18\uc2dd\uc73c\ub85c \uc81c\uc2dc\ub41c \uac83\uc774 \uc544\ub2c8\ub77c,\n        Q\uc640 R \ubcc0\ud654\uc5d0 \ub530\ub978 K\uc758 \uc99d\uac10 \ubc29\ud5a5\uc744 \uc124\uba85\ud558\uae30 \uc704\ud55c\n        NeoStudio \uba54\ubaa8\ub85c \ubcf4\uc778\ub2e4.\n        \uc6d0\ubcf8\uc758 \uc815\ud655\ud55c Kalman Gain \uc2dd\uc740 \uc704 \uc2dd\uc744 \ub530\ub978\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>9. \uce21\uc815\uac12\uc744 \uc774\uc6a9\ud55c \ucd94\uc815\uac12 \uacc4\uc0b0<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc608\uce21\uac12\uc5d0 \uc2e4\uc81c \uc13c\uc11c \uce21\uc815\uac12\uc744 \ubc18\uc601\ud558\uc5ec\n      \ucd5c\uc885 \ucd94\uc815\uac12\uc744 \uacc4\uc0b0\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      x\u0302<sub>k<\/sub>\n      =\n      x\u0302<sub>k<\/sub><sup>&#8211;<\/sup>\n      +\n      K<sub>k<\/sub>\n      (\n      z<sub>k<\/sub>\n      &#8211;\n      Hx\u0302<sub>k<\/sub><sup>&#8211;<\/sup>\n      )\n    <\/div>\n\n    <p>\n      \uad04\ud638 \uc548\uc758 \ud56d\uc740\n      \uc2e4\uc81c \uce21\uc815\uac12\uacfc \uc608\uce21\ub41c \uce21\uc815\uac12\uc758 \ucc28\uc774\ub97c \ub098\ud0c0\ub0b8\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      z<sub>k<\/sub>\n      &#8211;\n      Hx\u0302<sub>k<\/sub><sup>&#8211;<\/sup>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>10. Kalman Gain\uc758 \uc5ed\ud560<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294\n      \uce21\uc815\uac12\uacfc \uc608\uce21\uac12\uc758 \ucc28\uc774\ub97c\n      \uc5b4\ub290 \uc815\ub3c4 \ubc18\uc601\ud560 \uac83\uc778\uc9c0\ub97c\n      K\uac00 \uacb0\uc815\ud558\ub294 \uad6c\uc870\ub85c \uc815\ub9ac\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      \uce21\uc815\uac12 &#8211; \uc608\uce21\uac12\n      \u2192\n      K<sub>k<\/sub>\n      \u2192\n      \ucd94\uc815\uac12\uc5d0 \ubc18\uc601\n    <\/div>\n\n    <div class=\"memory\">\n      <strong>\n        K\uac00 \ud06c\uba74 \uce21\uc815\uac12\uc758 \uc601\ud5a5\uc744 \ud06c\uac8c \ubc18\uc601\ud558\uace0,\n        K\uac00 \uc791\uc73c\uba74 \uae30\uc874 \uc608\uce21\uac12\uc758 \uc601\ud5a5\uc744 \ud06c\uac8c \uc720\uc9c0\ud558\ub294\n        \ubc29\ud5a5\uc73c\ub85c \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>11. LPF\uc640\uc758 \ube44\uad50<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294 \uce7c\ub9cc \ud544\ud130\uc758 \ubcf4\uc815 \uad6c\uc870\ub97c\n      LPF\uc640 \uc720\uc0ac\ud55c \uad6c\uc870\ub85c \ube44\uad50\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      x\u0302<sub>k+1<\/sub>\n      =\n      \u03b1 x\u0302<sub>k<\/sub>\n      +\n      (1-\u03b1)x<sub>k<\/sub>\n    <\/div>\n\n    <p>\n      \uc774\uc804 \uac12\uacfc \ud604\uc7ac \uac12\uc744 \uc77c\uc815 \ube44\uc728\ub85c \uc11e\ub294 LPF\uc640 \uac19\uc774,\n      \uce7c\ub9cc \ud544\ud130\ub3c4 \uc608\uce21\uac12\uacfc \uce21\uc815\uac12\uc744\n      \uac00\uc911\ud558\uc5ec \uc0ac\uc6a9\ud558\ub294 \ud750\ub984\uc73c\ub85c \uba54\ubaa8\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"warning\">\n      <strong>\n        LPF \uc2dd\uc740 NeoStudio\uc5d0\uc11c\n        \uce7c\ub9cc \ud544\ud130\uc758 \ubcf4\uc815 \uad6c\uc870\ub97c \uc774\ud574\ud558\uae30 \uc704\ud55c\n        \ube44\uad50\uc2dd\uc73c\ub85c \uae30\ub85d\ub41c \uac83\uc774\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>12. \uc624\ucc28 \uacf5\ubd84\uc0b0 \uacc4\uc0b0<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uce21\uc815\uac12\uc744 \ubc18\uc601\ud55c \ub4a4\uc5d0\ub294\n      \uc624\ucc28 \uacf5\ubd84\uc0b0\uc744 \ub2e4\uc2dc \uacc4\uc0b0\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      P<sub>k<\/sub>\n      =\n      P<sub>k<\/sub><sup>&#8211;<\/sup>\n      &#8211;\n      K<sub>k<\/sub>\n      H\n      P<sub>k<\/sub><sup>&#8211;<\/sup>\n    <\/div>\n\n    <p>\n      \uc774 \uac12\uc740 \ub2e4\uc74c \ubc18\ubcf5\uc5d0\uc11c\n      \ub2e4\uc2dc \uc608\uce21 \uc624\ucc28 \uacf5\ubd84\uc0b0 \uacc4\uc0b0\uc5d0 \uc0ac\uc6a9\ub41c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>13. \uce7c\ub9cc \ud544\ud130 \ubc18\ubcf5 \uc21c\uc11c<\/h2>\n\n  <div class=\"card\">\n\n    <pre>\n        0. \ucd08\uae30\uac12 \uc120\uc815\n           x\u0302_0, P_0\n                \u2502\n                \u25bc\n        1. \ucd94\uc815\uac12 \uc608\uce21\n           x\u0302_k^- = A x\u0302_(k-1)\n                \u2502\n                \u25bc\n           \uc624\ucc28 \uacf5\ubd84\uc0b0 \uc608\uce21\n           P_k^- = A P_(k-1) A\u1d40 + Q\n                \u2502\n                \u25bc\n        2. Kalman Gain \uacc4\uc0b0\n           K_k =\n           P_k^- H\u1d40\n           (H P_k^- H\u1d40 + R)^-1\n                \u2502\n                \u25bc\n        3. \ucd94\uc815\uac12 \uacc4\uc0b0\n           x\u0302_k =\n           x\u0302_k^- +\n           K_k(z_k - Hx\u0302_k^-)\n                \u2502\n                \u25bc\n        4. \uc624\ucc28 \uacf5\ubd84\uc0b0 \uacc4\uc0b0\n           P_k =\n           P_k^- - K_k H P_k^-\n                \u2502\n                \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510\n                              \u2502\n                              \u25bc\n                        \ub2e4\uc74c k \ubc18\ubcf5\n    <\/pre>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>14. \uc77c\ubc18 \uc774\ubbf8\uc9c0\uc758 \uce7c\ub9cc \ud544\ud130 \uc54c\uace0\ub9ac\uc998<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ud398\uc774\uc9c0\uc758 \uc77c\ubc18 \uc774\ubbf8\uc9c0\ub3c4\n      NeoStudio\uc640 \ub3d9\uc77c\ud55c \ubc18\ubcf5 \uad6c\uc870\ub97c \ubcf4\uc5ec\uc900\ub2e4.\n    <\/p>\n\n    <pre>\n          \ucd08\uae30\uac12 \uc120\uc815\n          x\u0302_0, P_0\n              \u2502\n              \u25bc\n       \ucd94\uc815\uac12 \/ \uacf5\ubd84\uc0b0 \uc608\uce21\n              \u2502\n              \u25bc\n        Kalman Gain \uacc4\uc0b0\n              \u2502\n     z_k \u2500\u2500\u2500\u2500\u2500\u2524\n              \u25bc\n          \ucd94\uc815\uac12 \uacc4\uc0b0\n              \u2502\n              \u251c\u2500\u2500\u2500\u2500\u2500\u2500\u2192 x\u0302_k\n              \u2502\n              \u25bc\n        \uc624\ucc28 \uacf5\ubd84\uc0b0 \uacc4\uc0b0\n              \u2502\n              \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2192 \ubc18\ubcf5\n    <\/pre>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>15. \uc77c\ubc18 \uc774\ubbf8\uc9c0\uc758 \uc608\uce21\uc2dd<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc77c\ubc18 \uc774\ubbf8\uc9c0\uc5d0\ub294 \uc608\uce21 \ub2e8\uacc4\ub97c\n      \ub2e4\uc74c\uacfc \uac19\uc774 \ud45c\uc2dc\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      x\u0302<sub>k<\/sub><sup>&#8211;<\/sup>\n      =\n      A x\u0302<sub>k-1<\/sub>\n    <\/div>\n\n    <div class=\"formula\">\n      P<sub>k<\/sub><sup>&#8211;<\/sup>\n      =\n      A P<sub>k-1<\/sub> A<sup>T<\/sup> + Q\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>16. \uc77c\ubc18 \uc774\ubbf8\uc9c0\uc758 Kalman Gain<\/h2>\n\n  <div class=\"card\">\n\n    <div class=\"formula\">\n      K<sub>k<\/sub>\n      =\n      P<sub>k<\/sub><sup>&#8211;<\/sup>H<sup>T<\/sup>\n      (\n      HP<sub>k<\/sub><sup>&#8211;<\/sup>H<sup>T<\/sup> + R\n      )<sup>-1<\/sup>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>17. \uc77c\ubc18 \uc774\ubbf8\uc9c0\uc758 \ucd94\uc815\uac12 \uacc4\uc0b0<\/h2>\n\n  <div class=\"card\">\n\n    <div class=\"formula\">\n      x\u0302<sub>k<\/sub>\n      =\n      x\u0302<sub>k<\/sub><sup>&#8211;<\/sup>\n      +\n      K<sub>k<\/sub>\n      (\n      z<sub>k<\/sub>\n      &#8211;\n      Hx\u0302<sub>k<\/sub><sup>&#8211;<\/sup>\n      )\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>18. \uc77c\ubc18 \uc774\ubbf8\uc9c0\uc758 \uacf5\ubd84\uc0b0 \uacc4\uc0b0<\/h2>\n\n  <div class=\"card\">\n\n    <div class=\"formula\">\n      P<sub>k<\/sub>\n      =\n      P<sub>k<\/sub><sup>&#8211;<\/sup>\n      &#8211;\n      K<sub>k<\/sub>H\n      P<sub>k<\/sub><sup>&#8211;<\/sup>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>19. Q \uc99d\uac00\uc758 \uc758\ubbf8<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio \ub9c8\uc9c0\ub9c9 \ud398\uc774\uc9c0\uc5d0\uc11c\ub294\n      Q\uac00 \uc99d\uac00\ud558\ub294 \uacbd\uc6b0\ub97c \ub2e4\uc74c\uacfc \uac19\uc774 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Q \u2191\n      \u2192\n      K<sub>k<\/sub> \u2191\n      \u2192\n      \uc13c\uc11c \uce21\uc815\uac12 \ubc18\uc601 \u2191\n    <\/div>\n\n    <p>\n      \uc2dc\uc2a4\ud15c \uce21\uc758 \ubd88\ud655\uc2e4\uc131\uc744 \ud06c\uac8c \ubcf4\uba74\n      Kalman Gain\uc774 \uc99d\uac00\ud558\uc5ec\n      \uc13c\uc11c \uce21\uc815\uac12\uc744 \ub354 \ub9ce\uc774 \ubc18\uc601\ud558\ub294 \ubc29\ud5a5\uc73c\ub85c \uba54\ubaa8\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>20. R \uc99d\uac00\uc758 \uc758\ubbf8<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      R\uc774 \uc99d\uac00\ud560 \uacbd\uc6b0\uc5d0\ub294\n      Kalman Gain\uc774 \uac10\uc18c\ud558\ub294 \ubc29\ud5a5\uc73c\ub85c \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      R \u2191\n      \u2192\n      K<sub>k<\/sub> \u2193\n      \u2192\n      \uae30\uc874 \uc608\uce21\uac12 \uc911\uc2ec\n    <\/div>\n\n    <p>\n      NeoStudio\uc5d0\ub294 \uc13c\uc11c Noise\uac00 \ud06c\uba74\n      \uae30\uc874 \uc608\uce21\uac12 \ucabd\uc73c\ub85c \uac00\uc911\ub418\ub294 \ud750\ub984\uc73c\ub85c \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>21. Q\uc640 R\uc758 \uad00\uacc4<\/h2>\n\n  <div class=\"table-wrap\">\n\n    <table>\n      <thead>\n        <tr>\n          <th>\ubcc0\ud654<\/th>\n          <th>Kalman Gain<\/th>\n          <th>NeoStudio\uc758 \ud574\uc11d<\/th>\n        <\/tr>\n      <\/thead>\n\n      <tbody>\n\n        <tr>\n          <td><strong>Q \uc99d\uac00<\/strong><\/td>\n          <td>K \uc99d\uac00<\/td>\n          <td>\uc13c\uc11c \uce21\uc815\uac12 \ubc18\uc601 \uc99d\uac00<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>R \uc99d\uac00<\/strong><\/td>\n          <td>K \uac10\uc18c<\/td>\n          <td>\uae30\uc874 \uc608\uce21\uac12 \ube44\uc911 \uc99d\uac00<\/td>\n        <\/tr>\n\n      <\/tbody>\n    <\/table>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>22. \ud544\ud130\ub9c1 \ud750\ub984<\/h2>\n\n  <div class=\"card\">\n\n    <pre>\n            \uc2dc\uc2a4\ud15c Model\n             A, H\n               \u2502\n               \u25bc\n          \uc0c1\ud0dc \uc608\uce21 x\u0302_k^-\n               \u2502\n               \u2502\n        Q \u2500\u2500\u2500\u2500\u2500\u2524\n               \u25bc\n        \uacf5\ubd84\uc0b0 \uc608\uce21 P_k^-\n               \u2502\n               \u2502       R\n               \u251c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2524\n               \u25bc\n          Kalman Gain K_k\n               \u2502\n               \u2502\n      z_k \u2500\u2500\u2500\u2500\u2500\u2524\n               \u25bc\n           \ucd94\uc815\uac12 x\u0302_k\n               \u2502\n               \u25bc\n        \uacf5\ubd84\uc0b0 P_k \uac31\uc2e0\n               \u2502\n               \u2514\u2500\u2500\u2500\u2500\u2192 \ub2e4\uc74c \ubc18\ubcf5\n    <\/pre>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>23. \uc774\ubbf8\uc9c0 \u00b7 NeoStudio \ud575\uc2ec \uc815\ub9ac<\/h2>\n\n  <div class=\"table-wrap\">\n\n    <table>\n      <thead>\n        <tr>\n          <th>\ud56d\ubaa9<\/th>\n          <th>\uc6d0\ubcf8 \ub0b4\uc6a9<\/th>\n        <\/tr>\n      <\/thead>\n\n      <tbody>\n\n        <tr>\n          <td><strong>\uce21\uc815\uac12<\/strong><\/td>\n          <td>z<sub>k<\/sub><\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\ucd94\uc815\uac12<\/strong><\/td>\n          <td>x\u0302<sub>k<\/sub><\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>A, H<\/strong><\/td>\n          <td>\uc2dc\uc2a4\ud15c\uc744 \uc124\uba85\ud558\ub294 Matrix<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Q<\/strong><\/td>\n          <td>\uc2dc\uc2a4\ud15c Noise \uad00\ub828 \uacf5\ubd84\uc0b0<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>R<\/strong><\/td>\n          <td>\uc13c\uc11c Noise \uad00\ub828 \uacf5\ubd84\uc0b0<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>P<\/strong><\/td>\n          <td>\uc624\ucc28 \uacf5\ubd84\uc0b0<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\uc608\uce21<\/strong><\/td>\n          <td>x\u0302<sub>k<\/sub><sup>&#8211;<\/sup> = A x\u0302<sub>k-1<\/sub><\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\uacf5\ubd84\uc0b0 \uc608\uce21<\/strong><\/td>\n          <td>P<sub>k<\/sub><sup>&#8211;<\/sup> = AP<sub>k-1<\/sub>A<sup>T<\/sup> + Q<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Kalman Gain<\/strong><\/td>\n          <td>K<sub>k<\/sub> = P<sub>k<\/sub><sup>&#8211;<\/sup>H<sup>T<\/sup>(HP<sub>k<\/sub><sup>&#8211;<\/sup>H<sup>T<\/sup>+R)<sup>-1<\/sup><\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\ucd94\uc815\uac12 \ubcf4\uc815<\/strong><\/td>\n          <td>x\u0302<sub>k<\/sub> = x\u0302<sub>k<\/sub><sup>&#8211;<\/sup> + K<sub>k<\/sub>(z<sub>k<\/sub>-Hx\u0302<sub>k<\/sub><sup>&#8211;<\/sup>)<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\uacf5\ubd84\uc0b0 \ubcf4\uc815<\/strong><\/td>\n          <td>P<sub>k<\/sub> = P<sub>k<\/sub><sup>&#8211;<\/sup> &#8211; K<sub>k<\/sub>HP<sub>k<\/sub><sup>&#8211;<\/sup><\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Q \uc99d\uac00<\/strong><\/td>\n          <td>K \uc99d\uac00 \u2192 \uce21\uc815\uac12 \ubc18\uc601 \uc99d\uac00<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>R \uc99d\uac00<\/strong><\/td>\n          <td>K \uac10\uc18c \u2192 \uae30\uc874 \uc608\uce21\uac12 \ube44\uc911 \uc99d\uac00<\/td>\n        <\/tr>\n\n      <\/tbody>\n    <\/table>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <div class=\"warning\">\n\n    <strong>\n      \uc774 HTML\uc740 \ud398\uc774\uc9c0 \ubcf8\ubb38 \uc124\uba85\uc744 \uc0ac\uc6a9\ud558\uc9c0 \uc54a\uace0,\n      \ud574\ub2f9 \ud398\uc774\uc9c0\uc758 \uc77c\ubc18 \uc774\ubbf8\uc9c0 1\uc7a5\uacfc\n      NeoStudio PDF 1\uac1c(\ucd1d 3\ud398\uc774\uc9c0)\ub9cc\n      \uc9c1\uc811 \uc2dc\uac01 \ud310\ub3c5\ud558\uc5ec \uc791\uc131\ud558\uc600\ub2e4.\n\n      \uc77c\ubc18 \uc774\ubbf8\uc9c0\uc5d0\ub294\n      \ucd08\uae30\uac12 \uc120\uc815 \u2192 \ucd94\uc815\uac12\u00b7\uc624\ucc28 \uacf5\ubd84\uc0b0 \uc608\uce21 \u2192\n      Kalman Gain \uacc4\uc0b0 \u2192 \ucd94\uc815\uac12 \uacc4\uc0b0 \u2192\n      \uc624\ucc28 \uacf5\ubd84\uc0b0 \uacc4\uc0b0\uc758 \ubc18\ubcf5 \uc54c\uace0\ub9ac\uc998\uc774 \ud45c\uc2dc\ub418\uc5b4 \uc788\ub2e4.\n\n      NeoStudio PDF\uc5d0\ub294\n      A, H, Q, R, P\uc758 \uc758\ubbf8,\n      \uac01 \ub2e8\uacc4\uc758 \uacc4\uc0b0\uc2dd,\n      Q\u00b7R\uc5d0 \ub530\ub978 Kalman Gain\uc758 \ubcc0\ud654,\n      LPF\uc640\uc758 \uad6c\uc870 \ube44\uad50\uac00 \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n\n      NeoStudio \ub9c8\uc9c0\ub9c9 \ud398\uc774\uc9c0\uc5d0 \uc801\ud78c\n      \uc2dc\uc2a4\ud15c \ubc29\uc815\uc2dd \uc8fc\ubcc0\uc758 Q\u00b7R \ud45c\uae30\ub294\n      \uc77c\ubc18\uc801\uc778 \uc0c1\ud0dc\uacf5\uac04\uc2dd\uc73c\ub85c \uc784\uc758 \uad50\uc815\ud558\uc9c0 \uc54a\uc558\ub2e4.\n      \uc6d0\ubcf8\uc5d0\uc11c Q\ub294 \uc2dc\uc2a4\ud15c Noise \uacf5\ubd84\uc0b0,\n      R\uc740 \uc13c\uc11c Noise \uacf5\ubd84\uc0b0\uc73c\ub85c \uba85\uc2dc\ub41c \ubd80\ubd84\uc744 \uc911\uc2ec\uc73c\ub85c \ubc18\uc601\ud558\uc600\ub2e4.\n\n      \uc774\ubbf8\uc9c0\uc640 PDF\uc5d0 \uc5c6\ub294 \ucd94\uac00\uc801\uc778\n      Kalman Filter \uc774\ub860\uc740 \ud3ec\ud568\ud558\uc9c0 \uc54a\uc558\ub2e4.\n    <\/strong>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <div class=\"keywords\">\n    Kalman Filter,\n    \uce7c\ub9cc \ud544\ud130,\n    Kalman Gain,\n    State Estimate,\n    Prediction,\n    Measurement,\n    Covariance,\n    Error Covariance,\n    Process Noise,\n    Sensor Noise,\n    A,\n    H,\n    Q,\n    R,\n    P,\n    K,\n    z_k,\n    x_hat,\n    Innovation,\n    LPF\n  <\/div>\n\n<\/div>\n","protected":false},"excerpt":{"rendered":"<p>\uce7c\ub9cc\ud544\ud130\ub294 \uc5b4\ub835\uc9c0 \uc54a\uc544 \uc815\ub9ac \uce7c\ub9cc \ud544\ud130 Kalman Filter \u00b7 \uc608\uce21\uac12 \u00b7 \uce21\uc815\uac12 \u00b7 \uc624\ucc28 \uacf5\ubd84\uc0b0 \u00b7 Kalman Gain \u00b7 Q \u00b7 R \u00b7 A \u00b7 H 1. \uce7c\ub9cc \ud544\ud130\uc758 \uae30\ubcf8 \uad6c\uc870 NeoStudio\uc5d0\uc11c\ub294 \uce21\uc815\uac12 zk\uac00 \uc8fc\uc5b4\uc84c\uc744 \ub54c \uc2dc\uc2a4\ud15c \ubcc0\uc218 x\u0302k\ub97c \ucd94\uc815\ud558\ub294 \uad6c\uc870\ub85c \uce7c\ub9cc \ud544\ud130\ub97c \uc815\ub9ac\ud55c\ub2e4. \uce21\uc815\uac12 z_k \u2502 \u25bc \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510 \u2502 \uc2dc\uc2a4\ud15c \u2502 \u2502 \u2502 \u2502 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