According to real state of the airship, this paper forms its error state equations and integrates observation equations. Simul...
根据绕地飞船运动的实际情况建立了误差状态方程和组合观测方程。
The state equations of the system are established on the basis of the relation between attitude error quaternion and the gyro drift.
本文以姿态误差四元数与陀螺漂移误差之间的关系为基础，构建了系统状态方程；
Doppler frequency drift and timing error were considered in state transform equations.
状态方程综合考虑了多普勒频移、定时误差。
Doppler frequency drift and timing error were considered in state transform equations.
状态方程综合考虑了多普勒频移、定时误差。
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