由于该方案是基于近似的线性最小均方误差估计准则而设计的，因此它是一种理论上的准最佳跟踪方案。
As the scheme is designed conforming to the criteria of approximate linear least-mean-square error estimation, it is theoretically quasi-optimal.
该算法实现了横摆角速度的线性最小均方误差估计，且可对汽车行驶过程中的系统噪声和观测噪声统计特性进行在线估计。
This algorithm can realize linear minimum mean square error estimation of yaw rate, and on-line estimate statistical characteristic of system noise and observation noise during vehicle running.
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