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how to use kalman adaptive filter in simulink?

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julivonjuli

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kalman filter simulink

In simulink there are two inputs of kalman adaptive filter model.I have read some articles about kalman filter theories,but still can't understand how to put my data in this model .Also ,I have read matlab help ,but how to explain u(t)?
As a student major in automotive,the question for me is difficult to solve,maybe you can help me.
Thanks!
 

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