山区重力测量工作中，用现有方法计算总均方误差，往往使均方误差偏小，异常的可信程度降低。
The total mean square error for gravity survey in mountainous region estimated by the present methods are usually too small to be convincing.
新算法使用时变遗忘因子对误差进行指数加权平均来估计均方误差，并使用该因子改变自适应迭代过程中滤波器系数向量的更新方向。
In the new algorithm, a time-variant forgetting factor is introduced to estimate the Mean Square Er-ror (MSE) and change the updating direction of adaptive filter coefficient vector.
对文献中已给的目标方位角的最小均方误差表达式进行了推导，并且给出了方位角的最小均方误差和噪声偏差之间的关系。
Extend the expressions of the minimum mean squared error bounds of the references, and give the relations of the minimum mean squared error bounds of pose Angle and noise standard deviation.
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