根据模糊图像的频谱和协方差特性估计模糊图像的模糊度。

According to the frequency spectrum and covariance, the blur strength of the blurred image is evaluated.

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利用马尔柯夫估计，推导了GPS整周模糊度估计矢量和导航定位参数估计矢量的表达式，以及相应的协方差矩阵；

The GPS integer ambiguity estimates, the navigation parameter estimates and their variance-covariance matrix are derived by using Markovian estimation.

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再以该近似解和协方差矩阵为初值，由无迹卡尔曼滤波(ukf)实时估计双差整周模糊度的精确解。

Then the float ambiguity resolution was passed into an unscented Kalman filter as initial state value. UKF estimated the precise ambiguity resolution in real time with the initial value.

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