更新：1、使用VS code+cmake重新编译，编译器保持不变；

2、修复若干逻辑bug，具体参考BUG_FIX_REPORT.md

Signed-off-by: waiwaylee <waiwaylee@foxmail.com>

data_process_class_dll/kalman.h

@@ -2,12 +2,11 @@
 #define KALMAN_H
 #include "parameters.h"
 #include "struct.h"
-#include <QVector>
+#include <vector>
 #include <Eigen/Dense>
 using namespace Eigen;
 using namespace std;
 
-
 class kalman
 {
 public:
@@ -16,7 +15,6 @@ public:
 
 	void kalman_filter_init_2dots(double Z0[2], double Z1[2], double T,double X[4], double P[4][4]);//两点初始化卡尔曼滤波器
 
-
 	double d_cal_track_init(double Z[2],double X[4],double P[4][4],double T);       //计算点 临时航迹的d
 
 	double d_cal_track_init_with_doppler(double Z[2],double X[4],double P[4][4],double T,double vr,double prt,double freq_ind);
@@ -34,7 +32,7 @@ public:
 	void kalman_filter(double F[6][6], double Q[6][6], double X[6],double P[6][6],double Z[2],double X_filter[6],double P_filter[6][6],double S_filter[2][2]);
 
 	void kalman_filter_EKF(double F[6][6], double Q[6][6], double X[6],double P[6][6],double Z[3],
-						   double X_filter[6],double P_filter[6][6],double S_filter[2][2],
+						   double X_filter[6],double P_filter[6][6],double S_filter[3][3],
 						   double prt,double freq_ind );
 
 	double Bind_speed(double prt,double freq_ind);  //根据PRT 和 频率 计算不模糊速度