并根据滤波矩阵的特殊性，？用共轭梯度法求解滤波方程。
According to the filter matrix particularity, the filter equation was solved by using conjugate gradient method.
利用矩阵分解和系统变换的技巧，得到广义随机系统的集值滤波方程。
By using the techniques of the matrix decomposition and the system transformation, the set-valued filtering for stochastic singular linear systems is also designed.
在滤波过程中，通过分析滤波残差动态，调整滤波方程中的各种参数。
Filtering residuals are employed to adaptively tune all the parameters of Kalman filters.
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