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.

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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.

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