算法构造巧妙，由于使用了较少的卡尔曼滤波器，算法实时性好，鲁棒性更好。

The whole algorithm conformation is very skilled. Because the number of kalman filter is lesser, algorithm is real-time, and robust.

youdao

其次，利用线性卡尔曼滤波器对其纵向运动姿态进行估计，依据LQG性能指标构造了最优控制规律。

Then the pose of longitudinal motion is estimated by linear Kalman filter. Finally, an optimal control rule is constructed by LQG performance index.

youdao

其次，利用线性卡尔曼滤波器对其纵向运动姿态进行估计，依据LQG性能指标构造了最优控制规律。

Then the pose of longitudinal motion is estimated by linear Kalman filter. Finally, an optimal control rule is constructed by LQG performance index.

youdao