This paper expands the non-linear observation function in Taylor's series, takes to the quadratic term and obtains the form of the linear-quadratic term.
本文将非线性观测值函数泰勒级数展开，并取至二次项，得到线性一二次项形式。
Non-linear least squares bundle adjustment is used to process the images from CCD earth sensor, consequently, the vector observation function of CCD earth sensor is achieved on lunar environment.
该算法利用非线性最小二乘平差原理对CCD地球敏感器成像进行处理，实现了在月球表面CCD地球敏感器的矢量观测功能。
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