为进一步降低算法耗费，定义了计算周期的多个层次，最终给出实时参考姿态指令，用以实现参考轨迹的姿态跟踪控制。
To further reduce calculation cost, multiple computing cycles were defined. The output reference attitude command was used to realize the attitude tracking control of reference attitude trajectory.
由于选择了新的机动加速度量，从而得出线性的状态方程，由机动指令的实时估计得到机动目标自适应跟踪卡尔曼滤波器。
A linear state equation is got from selection of maneuvering acceleration. The adaptivity of adaptive tracking Kalman filter is represented by estimation of maneuvering commander at real time.
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