丝状微生物形态分析有直接观测法、计数表法和图象分析法等。
Several morphological analysis methods of filamentous microorganisms such as direct observation, digitizing table and image analysis were introduced in this paper.
用高斯-牛顿误差最小法将六维观测量转化为四元数，作为观测量的一部分，显著减少了直接使用EKF的计算量。
Gauss-Newton error minimization is used to transform six-dimentional reference vector to quaternion as a part of observations for EKF, which significantly reduces the computational requirement.
本文以梯度投影法迭代直接求解出观测值的改正数，并在最后给出一个简单算例，以资验证。
The correction of the observation is obtained by the interation with gradient projection method and a simple calculation example is given to verify it.
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