编写了两种随机搜索算法的运算程序，采用不同待估参数初始输入范围进行了数值实验。
The procedures of these two algorithms are programmed with VB computer language. With different ranges of initial guess value of aquifer parameters, numerical experiments are conducted.
最后给出了平差待估参数与观测值真误差之间的微分关系，由此即可导出平差待估参数的协方差阵。
At last gives the differential relationships between the unknown parameters and the true errors of the observations. These relationships can be used to evaluate the precision of the estimations.
用实验方法确定经验公式时，回归方程中用最小二乘方法求得的待估参数的估计值往往是一个很长的数。
When determining empirical formula with test method, estimation value of estimated parameter in regression equation which is obtained with least square method always is a long number.
在此基础上，用部分验前知识，进一步对该有偏估计作了参数分离，从而得到全部待估参数的无偏估计。
On the basis the parameters are separated for the biased estimate by means of partial prior knowledge, and unbiased estimates of all parameters to be evaluated are obtained.
这种线性化近似模型要满足两个前提方能解算出足够精度的待估参数：第一，非线性函数模型的非线性强度要足够弱；
To obtain enough accuracy parameters to be estimated, this linear model must meet two preconditions:First, the nonlinear strength of nonlinear models is enough weak;
对机器人动力学和运动学关系式进行线性参数化，分别对动力学待估参数和运动学待估参数设计在线修正律，在关节空间采用自适应控制。
Kinematics and dynamics can be linearized by a set of combined parameters, the update law of the parameters is designed respectively. Adaptive control is adopted in joint space.
对机器人动力学和运动学关系式进行线性参数化，分别对动力学待估参数和运动学待估参数设计在线修正律，在关节空间采用自适应控制。
Kinematics and dynamics can be linearized by a set of combined parameters, the update law of the parameters is designed respectively. Adaptive control is adopted in joint space.
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