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1、ADVANCEDKALMANFILTERING,LEAST-SQUARESANDMODELINGAbouttheCoverThewatercolorportraitofCarlFriedrichGausswasmadebyJ.C.A.Schwartzin1803(photocourtesyofAxelWittmann,copyrightowner).ThisisthedecadewhenGaussfirstusedtheleastsquaresmethodtodetermineorbitsofasteroidsandcomets.The19
2、63pictureofRudolfKalmaninhisofficeattheResearchInstituteforAdvancedStudieswastakenafterhefirstpublishedpapersdescribingtheKalmanfilter(photocourtesyofRudolfKalman,copyrightowner).TheGPSIIFspacecraftisthelatestopera-tionalversionofthespacecraftseries(picturecourtesyofTheBoein
3、gCompany,copyrightowner).TheGPSgroundsystemusesaKalmanfiltertotrackthespacecraftorbitsandclockerrorsofboththespacecraftandgroundmonitorstations.Aleastsquaresfitisusedtocomputethenavigationmessageparametersthatareuplinkedtothespacecraftandthenbroadcasttouserreceivers.GPSrece
4、iverstypi-callyuseaKalmanfiltertotrackmotionandclockerrorsofthereceiver.Theplotshowstheroot-mean-squareduserrangeerror(URE)for29GPSsatellitesoperationalin2005.ThoseUREvalueswerecomputedusingsmoothedGPSorbitandclockestimatesasthe“truth”reference(seeExample9.6ofChapter9).ADV
5、ANCEDKALMANFILTERING,LEAST-SQUARESANDMODELINGAPracticalHandbookBRUCEP.GIBBSCarrAstronautics,Inc.AJOHNWILEY&SONS,INC.,PUBLICATIONCopyright©2011byJohnWiley&Sons,Inc.AllrightsreservedPublishedbyJohnWiley&Sons,Inc.,Hoboken,NewJerseyPublishedsimultaneouslyinCanadaNopartofthisp
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