The observationmatrix of calibration on relative position measurement is achieved from error model.
从误差建模出发，得到基于相对位置测量的标定参数识别矩阵。
2
The system order is decided by non-zerosingular values of the observationmatrix in the subspace state space systemidentification method.
子空间系统辨识方法确定系统的阶次是由可观测矩阵的非零奇异值来决定。
3
Parameters of Kalman forecast are designed according to requirements of system and subsequently, system state vector, state transfer matrix and observationmatrix are determined.