本文推导了使用常单元和线性单元时矩阵元素的解析表还式，从而避免了数值积分。
This paper derives the analytical formulas for elements of the matrices using constant and linear elements Therefore, the numerical integral can be avoided.
在卫星的状态估计过程中应用推广的序列估计算法，借助数值积分方法积分状态向量和协方差矩阵。
For the estimation of satellite state, the extended sequential estimation algorithm was applied. The numerical method was used to integrate state vector and error covariance matrix.
它是基于数值积分和矩阵最小二乘法的数值方法。
It is based on the numerical integration and matrix least square method.
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