LessIsMore.

等距变换(Isometries) [x′y′1]=[σcos⁡θ−sin⁡θx0σsin⁡θcos⁡θy0001][xy1]\left[\begin{matrix}x'\\y'\\1\\\end{matrix}\right]= \left[\begin{matrix}\sigma\cos\theta&-\sin\theta&x_0\\\sigma\sin\theta&\cos\theta&y_0\\0&0&1\\\end{matrix}\right] \lef

K. Madsen, H. B. Nielsen, O. Tingleff, Methods for Non-Linear Least Squares Problems Algorithm 3.16. Levenberg-Marquardt method begin k:=0;v:=2;x:=x0k:=0; v:=2; x:=x_0k:=0;v:=2;x:=x0​ A:=J(x)TJ(x);g:=J(x)Tf(x)A:=J(x)^TJ(x); g:=J(x)^Tf(x)A:=J(x)TJ(x);g:=J(x

DOP Dilution Of Precision 通常为了描述定位误差与伪距误差之间的关系，定义如下精度因子来衡量测量的结果： 几何精度因子(Geometric Dilution Of Precision GDOP) 位置精度因子(Position(3D) Dilution Of Precision PDOP) 水平精度因子(Horizontal Dilution Of Precision HDOP) 垂直精度因子(Vertical Dilution Of Precision VDOP) 钟差精度因子(T