基于FPGA设计的kalman滤波器——QMJ( 三 )

<= xprod12;K_z_1<= Kz1;K_z_2<= Kz2;endassign S = P_int1 + R;assignz_diff = z_in - xprod11;assignx_out_1 = x_prod1+ K_z_1;assignx_out_2 = x_prod2+ K_z_2;