At last the normal Kalman filtering algorithm model was given and the deducing process of this algorithm was described in detail.

最后，给出了标准的卡尔曼滤波算法模型并详细描述了算法的推导过程。

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The deducing process and the results all show that using phase rule to analyze the thermodynamic characteristics of multiple phase equilibrium system is necessary.

推导过程和结果都说明，在进行多相平衡体系的热力学分析时，以相律为指导是必要的。

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Experiment shows that its deducing process is entirely the same as the INS of a certain type of plane, and it has important reference value to fault diagnosing of homemade INS.

实验证明：其分析推导过程与某型飞机惯导产品实际情况完全一致，对国内惯导故障诊断具有重要的参考价值。

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