用卡尔曼滤波方法进行数据处理时，观测值中的粗差将在预测残差向量中得到反映。
When the data were processed with Kalman filtering method, the gross errors could be found in the forecasting residual vector.
卡尔曼滤波方法已广泛应用于动态测量数据的处理，其单位权方差通常按新息向量和观测值的残差向量进行计算，增加了观测值残差向量的计算。
Kalman filtering method is widely used in data adjustment of dynamic surveying system, whose unit variance is usually computed with innovation vector of parameters and residual vector of observations.
并将该模型用于建立一个在DRS观测值存在的情况下，状态向量估计的非线性平滑器。
This model is used to bui1d a nonlinear smoother for the estimation of the state vector when DRS measurements are available.
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