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原创 雅克比矩阵求导推导

首先，引入雅克比矩阵公式： J=[u1u2⋯une1e2⋯en]\mathbf{J}=\left[\begin{array}{c} \begin{array}{lll}\mathbf{u}_{1} & \mathbf{u}_{2} & \cdots & \mathbf{u}_{n}\end{array} \\ \begin{array}{lll}\mathbf{e}_{1} & \mathbf{e}_{2} & \cdots & \mathbf{e}_{n}\