扩展的卡尔曼滤波定位方法是一个常用的位置跟踪方法，但是在对非线性系统方程进行线性化近似过程中引入了线性化误差。

Extended Kalman Filter is an efficient tool for mobile robot position tracking, but it suffers from linearization errors due to linear approximation of nonlinear system equations.

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CCD星体跟踪器作为舰船位置测量仪器，因其定位精度高、无位置积累误差、快速和智能化工作而受到重视。

Using the CCD star tracker as the ships position measuring instrument is considered much for its high positioning accuracy. no position accumulated error, fast and intelligent work.

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