Unlike the normal two stages estimate method ( the usual nonparametric weighted method combined with the least square estimate ) , considering the characteristics of this model , this paper uses the least square estimate combining with the usual nonparametric weighted method and defines the estimators and n2 for the unknown parameter , the unkown fuction g ( ) and the unknown variance of errors 2 与通常采用的两阶段估计方法即非参数权函数法结合最小二乘法不同，考虑到此模型本身的特性，本文采用最小二乘法结合一般非参数权函数估计方法，定义了未知待估参数和未知函数g ( ? )及误差方差~ 2的估计量( ? ) _ n ， ( ? ) _ n ( ? )和(
The cyclic estimation approaches of chirp signals in additive nose or multiplicative noise are proposed , it presents a way for the parameters estimation of zero mean amplitude chirp signals . the estimation performances in the additive noise or multiplicative noise are analyzed by the first order perturbation analysis method , and the error variance expressions of the parameters estimation under large samples are derived 针对加性噪声情况及存在乘性噪声的情况，提出了线性调频信号参数的循环平稳估计方法，解决了零均值乘性噪声的信号参数估计问题，并采用一阶扰动分析方法，对两种噪声情况下的估计性能进行了分析，推导出了各参数的估计误差方差公式。
Lastly , the concept of " transient steady state " ( tss ) and its realized approach is put forward , and tss filter ' s error variance is obtained , which provides theoretical reference for the analysis of the tracking performance under the non - linear measurements 最后，基于一维“稳态”滤波器的已有研究成果，提出了非线性观测下滤波器的“暂稳态”概念和实现方法，并推导了状态估计“暂稳态”误差方差的解析表达式，为非线性观测下的目标跟踪性能分析提供了理论依据。
Traditional inertial mechanized - platform uses velocities to damp the system attitude to improve the precision of attitude , when the system acceleration is small . referring to the idea , this paper designeda damp kalman filter in strap - down attitude heading reference system ( ahrs ) . the new method makes use of 3 - d accelerometer ' s measurements to estimate the system attitude , which is measured to compensate attitude errors . because the acceleration affected the precision of fiher directly , the fuzzy adaptive system was presented . the fuzzy logic inputs are three accelerations and the output is to control the measurement noise covariance matrix . simulations and experimental results prove that the damp algorithm can damp most of schuler oscillation and foucauh oscillation , so that to assure the filter convergence and efficiently improve the precision of strap - down ahrs 在系统机动性不强的情况下,传统的平台内阻尼算法将系统本身的速度信息通过阻尼网络加到系统中,达到提高姿态角精度的目的.将这种平台内阻尼的思想引入到捷联惯性航姿系统中,在系统加速度较小的情况下,利用加速度计的输出估计系统姿态角,通过卡尔曼滤波的形式补偿系统姿态误差.由于加速度的大小直接影响滤波器精度,本文设计了模糊自适应卡尔曼滤波算法,根据三轴加速度计的输出调整内阻尼量测误差方差阵,从而避免了滤波器的发散.仿真和实验验证,内阻尼算法可明显抑制舒勒周期振荡和傅科周期振荡,避免了系统姿态漂移,有效提高了捷联惯性航姿系统的精度
The same conclusion as derived from the original pda under approximate condition is concluded this way without any approximations . the second method is the instant - state performance prediction based on the hyca method . this method not only gives the off - line recursive error variance relation , but also gets a series of performance measurement such as track life 然后应用两种方法对其进行性能估计和预测，一是基于riccati方程的稳态性能估计，其结果与pda算法近似条件下得出的结论相同；二是基于hyca方法的瞬态性能预测，不仅给出了误差方差的离线递推关系，而且得到了航迹寿命等一系列性能指标的估计值。
In third chapter , we first give the two estimators a2 , and ct for with the estimators obtained before , and then define the bootstraps and of and by using method of resampling . we also prove that and are the consistency and the approximate normal distribation . and also study the characters of the bootstraps a2 and dn and obtain some useful conclusions that are shown in theorem 1 and theorem9 第三章在前面两个阶段估计结果的基础上，首先给出了误差方差的两个估计和，然后利用重抽样方法，定义了和的两个bootstrap量和，并且证明了和的强相合性与渐近正态性，同时也研究了bootstrap量和的有关性质，得到了一些令人满意的结果，具体体现在定理7和定理9中。
Under the background of target tracking in high - density clutter , the calculation formula of the pda algorithm ' s error variance is analyzed and revised firstly , and the modified pda ( mpda ) is derived , which not only improves the tracking performance , but also makes the error variance and the real error of the algorithm match well 针对高密度杂波环境中的目标跟踪问题，首先分析和修正了pda算法中误差方差的计算公式，提出了修正的pda算法( mpda ) ，它不仅提高了跟踪性能，而且使得误差方差与算法的实际误差能够很好地匹配。
In second chapter , we obtain the second stage estimators for 0 and g with the first stage estimators by using generated least square th at is used in ev model . the second stage estimators are better than the first stage ones concerning variance , and meantime the paper proves that is the consistencey and the approximate normal distribution and gn is the consistency and the uniform consistency 第二章首先在第一阶段估计的基础上，针对ev模型利用广义最小二乘法求出， g的第二阶段估计，这样从误差方差的角度来考虑，第二阶段估计结果比第一阶段估计结果改进了一步。
This filter is a combination of adaptive ud decomposition kalman filter with quad method . it use quad method to detect and correct the gross errors in observations , use ud decomposition technique to improve computation precision and overcome the instability of filter caused by instability of values , when divergence of kalman filter had been detected , an adaptive filter is employed to adjust the prediction error covariance matrix 该法用拟准检定法准确地探测和修正量测方程中存在的粗差；用ud分解算法改进了计算精度，克服了由于数值不稳定带来滤波的不稳定性；当判断滤波器发散后，则启用sage自适应滤波器，调整预测误差方差，以克服滤波器的发散。
