This algorithm can realize linear minimum mean square error estimation of yaw rate, and on-line estimate statistical characteristic of system noise and observation noise during vehicle running.

该算法实现了横摆角速度的线性最小均方误差估计，且可对汽车行驶过程中的系统噪声和观测噪声统计特性进行在线估计。

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According to the time error, the yaw maneuvering command was generated and route dynamic planning on the basis of the pre-determined route was done to control the impact time.

在预定航路基础上利用时间误差信号生成侧向机动指令，通过航路动态规划，实现对攻击时间的控制。

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