这种滤波和其他预测性滤波一样，可以通过模型方程由测量空间递推得到状态空间。
As other predictive filters, state space is recursively got from measure space with system model by using the Particle filter.
结论得到了该系统状态的最优预测和滤波递推方程。
Conclusion Optimal recursive estimation for predicting and filtering of state for this singular system are obtained.
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