卡尔曼滤波器只对正数起作用，请大家指导
#define KALMAN_Q 0.000001#define KALMAN_R 1.0000
#define KALMAN_P0 1.0000
float KalmanFilter(float ResrcData,float ProcessNiose_Q,float MeasureNoise_R,float InitialPrediction)
{
float R = MeasureNoise_R;
float Q = ProcessNiose_Q;
static float x_last;
float x_mid = x_last;
float x_now;
static float p_last;
float p_mid ;
float p_now;
float kg;
x_mid=x_last;
p_mid=p_last+Q;
kg=p_mid/(p_mid+R);
x_now=x_mid+kg*(ResrcData-x_mid);
p_now=(1-kg)*p_mid;
p_last = p_now;
x_last = x_now;
return x_now;
}
这段程序是我在网上找到的，用VC验证通过调节参数，滤波效果很好，但是只对正数起作用，对负数不能进行有效滤波，哪位能给分析一下，好做更改
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