The weight matrix is replaced by using weight coefficient, and avoids calculating inverse matrix of the error variance matrix.
用计算加权系数的方法代替了原来的计算加权矩阵，从而避免了求解滤波误差方差阵的逆矩阵。
Aim Using the variance matrix of estimated error, positional accuracy can be compared with different mixing together data, it has put forward a kind of basis for system location to select data.
目的通过估计误差方差阵，对多传感器组合导航系统中不同的融合数据进行定位精度比较，为系统定位提供选择数据的依据。
Then, navigation system observability and observable degree with different quantitative line-of-sight measurements are analyzed in detail by rank analysis of the error variance inverse matrix.
然后，通过对误差方差阵逆矩阵秩的分析，比较详尽地分析了不同数量视线观测条件下导航算法的可观度和可观性。
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