运行子目录中的.py文件

我觉得这应该很明显,但我没有找到正确的搜索词。我可以从项目的根目录运行文件,但不能从子目录运行。我该怎么解决这个问题?

我有一个目录树,看起来像这样:

$ tree
.
├── kalman
│   ├── find_observibility.py
│   ├── __init__.py
│   ├── kalman.py
│   └── model.py

find_observibility.py 进口自 kalman .

如果我复制 find_observibility.py 深入我的项目,它运行得很好。但是,当我尝试从它的子目录运行它时,我得到了一个错误:

$ ./kalman/find_observibility.py 
Traceback (most recent call last):
  File "/home/tim/Documents/software/cl_kalman/./kalman/find_observibility.py", line 3, in <module>
    from kalman import outputJacobian, stateJacobian, stateTransition
  File "/home/tim/Documents/software/cl_kalman/kalman/kalman.py", line 6, in <module>
    from kalman.model import modelOutput, stateTransition
ModuleNotFoundError: No module named 'kalman.model'; 'kalman' is not a package

这里 find_observability.py :

#! /usr/bin/env python3

from kalman import outputJacobian, stateJacobian, stateTransition
from make_flight import Rising, Rounds

if '__main__' == __name__:
    print('oh my')

这里 kalman/__init__.py :

from .model import initialState, modelOutput, stateTransition
from .kalman import outputJacobian, stateJacobian

如有线索,将不胜感激。解决方案更多。提前感谢。