中文说明：
基于matlab，实现滚动时域估计算法（MHE算法），将估计问题转化为优化问题，基于粒子群算法求解最优解，结合惩罚函数法来处理带约束的优化问题
English Description：
Based on MATLAB, the moving horizon estimation algorithm (MHE algorithm) is realized, which transforms the estimation problem into an optimization problem. The particle swarm optimization algorithm is used to solve the optimal solution, and the penalty function method is used to deal with the constrained optimization problem