文中基于准三维模型对惯导系统误差校正的思想，利用摄像机成像系统和捷联惯导系统（SINS）相结合的方法，着重对量测矩阵进行推导。
Based on the INS error correction by quasi-three dimensional model, the method of the combination of camera imaging system with SINS to deduce the measurement matrix was utilized.
实时估计出系统噪声方差矩阵和量测噪声方差矩阵，对状态变量进行灰色聚类，并对滤波矩阵和增益矩阵进行实时自适应调整，计算出状态向量的递推估计值。
Based on real-time estimation of noise matrix and grey clustering of state variable, filter or gain matrix is modulated so as to get an estimation of the state vector.
文中提出了避免残差灵敏度矩阵存储的新方法，以及对量测估计进行局部修正的方法。
A new method of how to avoid the storage of the residue sensitivity matrix and of how to make local correction of measurement estimates are discussed in this paper.
该算法将配电网中的功率量测变换为电流量测，实现了雅可比矩阵常数化，支路电流实虚部解耦求解。
Power measurements are all transformed to equivalent current measurements that make the Jacobian matrix constant and calculates current real and imaginary part dividualiy.
该算法将配电网中的功率量测变换为电流量测，实现了雅可比矩阵常数化，支路电流实虚部解耦求解。
Power measurements are all transformed to equivalent current measurements that make the Jacobian matrix constant and calculates current real and imaginary part dividualiy.
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