kalman滤波器的传递函数怎么求？
如下面程序所示的一个kalman滤波器void Kalman_Filter(float gyro_m,float acc_m)
//double P = {{ 1, 0 },{ 0, 1 }}; double Pdot ={ 0,0,0,0}; static const double Q_angle=0.001, Q_gyro=0.003, R_angle=0.5,dtt=0.007,C_0 = 1;
//double q_bias, angle_err, PCt_0, PCt_1, E, K_0, K_1, t_0, t_1; double angle, angle_dot; // aaxdot,aax;double position_dot,position_dot_filter,positiono;
{
omega +=(acc_m-q_bias1) * dtt;
Pdot=Q_angle - P - P;//
Pdot=- P;
Pdot=- P;
Pdot=Q_gyro;
P += Pdot * dtt;
P += Pdot * dtt;
P += Pdot * dtt;
P += Pdot * dtt;
omega_err = gyro_m - omega;
PCt_0 = C_0 * P;
PCt_1 = C_0 * P;
E = R_angle + C_0 * PCt_0;
K_0 = PCt_0 / E;
K_1 = PCt_1 / E;
t_0 = PCt_0;
t_1 = C_0 * P;
P -= K_0 * t_0;
P -= K_0 * t_1;
P -= K_1 * t_0;
P -= K_1 * t_1;
omega +=K_0 * omega_err;
q_bias1 += K_1 * omega_err;
}
它的传递函数怎么求？！伯德图怎么画？（最好是用matlab）
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