这已经是一个较好的值，因为它可以保证优化器在使用分位数统计信息的情况下对确定过滤因子的估计误差最大只有5%。

This is already a good value because it guarantees that the optimizer, by using the quantile statistics, only has an estimated maximum error of 5% for the determined filter factors.

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由于系统方程是时变的，在测量过程中，系统噪声和观测噪声的统计特性等很难精确地估计或测定，事实上很多误差模型都不能简单的设为白噪声。

Because the system equation is changed with time, during the measurement, the statistic character of the system noise and the observation noise cannot be estimated or be determined accurately.

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该算法实现了横摆角速度的线性最小均方误差估计，且可对汽车行驶过程中的系统噪声和观测噪声统计特性进行在线估计。

This algorithm can realize linear minimum mean square error estimation of yaw rate, and on-line estimate statistical characteristic of system noise and observation noise during vehicle running.

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