它们避免了计算估计误差方差阵的逆矩阵，且具有通用性。
They avoid to calculate the inverse of the estimation error variance matrices, and have the generality.
为了计算最优加权，提出了局部估计误差方差阵和互协方差阵的计算公式。
In order to compute the optimal weights, the formulas of computing the local estimation error covariance and cross-covariance matrices are presented.
为了计算最优加权，提出了状态估计误差方差阵和互协方差阵的计算公式。
The formulas of computing the variance and cross-covariance matrices among local state estimation errors are presented, which are applied to compute the optimal weights.
目的通过估计误差方差阵，对多传感器组合导航系统中不同的融合数据进行定位精度比较，为系统定位提供选择数据的依据。
Aim Using the variance matrix of estimated error, positional accuracy can be compared with different mixing together data, it has put forward a kind of basis for system location to select data.
这种滤波器的关键是在均方意义下推导无偏转换测量误差协方差阵的最佳估计。
The key of the presented filter is to derive the best estimate of the covariance matrix of the unbiased converted measurements in the mean-square sense.
为了计算最优加权阵，提出了局部估计误差互协方差阵的计算公式。
In order to compute the optimal weighting matrices, the formula of computing the cross-covariance matrix between local estimation errors is presented.
然后，推导了任两个局部估计误差之间的互协方差阵的计算公式。
Then we derive the computation formula for the cross-covariance matrix between any two local estimators.
详细推导了状态估计误差及其方差阵的传播模型。
Detailed propagation formula of the state estimation error and its variance matrix are derived.
详细推导了状态估计误差及其方差阵的传播模型。
The detailed propagation formula of the state estimation error and its variance matrix are derived.
详细推导了状态估计误差及其方差阵的传播模型。
The detailed propagation formula of the state estimation error and its variance matrix are derived.
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