主滤波器(全局滤波器)进行子滤波器的公共状态矢量融合和时间更新，输出可靠、准确的导航参数误差的全局最优估计量。

Primary filter accomplishes the fusion of public state vectors about sub filters and time updating, and outputs the credible, precise and optimal estimation of navigation parameter error.

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包括分层抽样下样本轮换的估计量公式和最优样本轮换率的确定方法。再接着利用前面介绍的理论知识，结合上海市城镇住房空置率抽样调查数据进行实证分析。

Based on the theory and method introduced before, this paper applied the rotation models to compute the sample rotation rate of sampling survey on vacancy rate of households in Shanghai.

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