The element of template is probability of eigenvalue of target. These probability are acquire by a kalman filter group which had 48 kalman filters.

模板的元素取自目标特征值的概率，通过48个卡尔曼滤波器可以跟踪所有特征值的概率变化。

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A new group of adaptive estimation method of Kalman filter fading factor was developed.

提出了一种衰减记忆卡尔曼滤波中衰减因子的自适应估计方法。

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