本文以梯度投影法迭代直接求解出观测值的改正数，并在最后给出一个简单算例，以资验证。
The correction of the observation is obtained by the interation with gradient projection method and a simple calculation example is given to verify it.
利用广义逆矩阵的特性，改进了线性约束梯度投影法的理论。
In this paper, the theory of gradient projection methods for linearly constrained optimization formerly fomulated by the author is further improved.
梯度投影法从优化的角度对机器人的运动进行处理，在保证机器人完成作业任务的同时，使机器人获得某些性能的优化。
And gradient-projection method focused on changing robotic motion from an optimizing perspective, which achieved some performance optimizations while fulfilling required tasks.
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