通过对可观测性能分析，得出了这样的结论：仅用伪距和伪距变化率为观测量的组合系统对姿态角误差的可观测性较差。
Observability analysis shows that the integration system, in which only GPS pseudo range and delta pseudo range are the observable, can not assure favorable observability of the attitude error angles.
针对上海数字电视图像质量较差的问题，对播出系统中几个环节进行图像质量的客观测量，通过对测量数据的分析，发现编码器的编码带宽对图像质量影响较大。
To deal with the problem that Shanghai digital TV picture quality is poorer than traditional cable TV, picture qualities of several broadcasting taches are messured objectively.
待定位节点再利用蒙特卡罗算法迭代计算前面时间段的位置样本集，并充分利用观测值滤除较差样本，从而提高当前时刻的定位精度。
Hence a node may obtain more observations for estimating previous location sets. Then the previous location sets are recomputed by the MCL method to improve the location accuracy of the present time.
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