中文说明：一个四维状态、二维观测的目标跟踪扩展卡尔曼滤波程序，附有详细的说明。
English Description：
An extended Kalman filter program for target tracking with four-dimensional state and two-dimensional observation is presented with a detailed description.
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中文说明：一个四维状态、二维观测的目标跟踪扩展卡尔曼滤波程序，附有详细的说明。
English Description：
An extended Kalman filter program for target tracking with four-dimensional state and two-dimensional observation is presented with a detailed description.