Owing to estimate the statistics of virtual noise on line, it overcomes the bad affect caused by linearization of nonlinear dynamic model.
它能够在线估计虚拟系统噪声的统计特性，从而消除了动态模型线性化误差带来的不良影响。
Owing to estimating the statistics of virtual noise on line, it overcomes the bad affect caused by linearization of nonlinear observation model.
它能够在线估计虚拟观测噪声的统计特性，从而克服了观测模型线性化误差带来的不良影响。
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