This paper expands the non-linear observationfunction in Taylor's series, takes to the quadratic term and obtains the form of the linear-quadratic term.
本文将非线性观测值函数泰勒级数展开，并取至二次项，得到线性一二次项形式。
2
The door leaves are provided with observation Windows enabling the door to have observationfunction, thereby visually judging the fire degree when the fire happens.
门页上设观察窗使门平时具有观察功能，火情发生时能直观判断火险程度。
3
Non-linear least squares bundle adjustment is used to process the images from CCD earth sensor, consequently, the vector observationfunction of CCD earth sensor is achieved on lunar environment.