By using the smoothed state variable to calculate the Jacobian matrix and renew the covariance matrix, the algorithm has better consistency.

由于该算法的协方差更新采用状态滤波值计算雅可比矩阵，因而具有更好的一致性。

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By using the smoothed state variable to calculate the Jacobian matrix and renew the covariance matrix, the algorithm has better consistency.

由于该算法的协方差更新采用状态滤波值计算雅可比矩阵，因而具有更好的一致性。

youdao