Innovations of FKF are partly fed back to DR equations to restrain the accumulation of error according to the characteristic of innovations.
根据卡尔曼滤波新息过程的统计特点，将新息过程部分反馈到DR方程以抑制DR的误差发散。
Innovations of FKF are partly fed back to DR equations to restrain the accumulation of error according to the characteristic of innovations.
根据卡尔曼滤波新息过程的统计特点，将新息过程部分反馈到DR方程以抑制DR的误差发散。
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