If we heighten the precision of measuring equipment, the central difference's relative error of the estimation variance improved great, which is less than 10%.
若提高测量仪表精度，则中心差分法估计方差相对值明显改善，可提高到10%以内。
Since there is no need to suppose the variance of error, the estimation method which we established is more efficient in application.
由于在估计方法中无需假定误差方差，因此，所构造的估计方法更符合实际应用情况。
Detailed propagation formula of the state estimation error and its variance matrix are derived.
详细推导了状态估计误差及其方差阵的传播模型。
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