该方法同时考虑了参数误差与几何淡化因子对定位精度的影响，不需要矩阵求逆，运算量小，速度快。
The method is characterized by light computational load and short time because it does not need to calculate the inverse of matrix.
该方法同时考虑了参数误差与几何淡化因子对定位精度的影响，不需要矩阵求逆，运算量小，速度快。
The method is characterized by light computational load and short time because it does not need to calculate the inverse of matrix.
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