本文利用旋转矩阵的正交性，提出了进一步改善原旋转矩阵估计的约束优化方法。
Based on the orthogonality of rotation matrix, a constrained optimization approach is proposed to estimate the rotation matrix.
利用无约束优化方法对该偏差余项进行估计。
An unconstrained optimization algorithms is proposed for the estimation of the bias residue.
利用无约束优化方法对该偏差余项进行估计。
An unconstrained optimization algorithms is proposed for the estimation of the bias residue.
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