System model is the foundation of Kalman filter. The nondeterminacy of system model brought on apriori data error, as the low precision and the diverge of the filter.
系统建模是卡尔曼滤波的基础，系统模型不准确带来的验前数据误差，使滤波器精度降低，可能造成发散。
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The algorithm used here considers the nondeterminacy of data and hence can overcome the shortcomings of existing algorithms. It is automatic, direct and effective, and needs less running time.