Then the pose of longitudinal motion is estimated by linear Kalman filter. Finally, an optimal control rule is constructed by LQG performance index.

其次，利用线性卡尔曼滤波器对其纵向运动姿态进行估计，依据LQG性能指标构造了最优控制规律。

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Finally, the longitudinal expansion thought of high-order cascade filter design was presented.

最后，本文提出了高阶级联滤波器的纵向扩展设计思路。

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The attitude feedback processed by a filter was used to adjust continuously the parameters of the reference point, and the lean along the longitudinal and lateral direction are compensated.

采用经滤波处理的姿态反馈角度对中位点各参数进行连续调节，实现过渡状态下对姿态在纵向和横向上的倾斜补偿。

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