In case of the noise statistic being unknown or variable, adaptive Kalman filter is used to get drift speed of each axle at each test position, and then drift parameter is calculated.
在噪声统计未知或时变的情况下，每个位置采用自适应卡尔曼滤波解算出平台各轴的漂移角速率，并在此基础上辨识出漂移参数。
In case of the noise statistic being unknown or variable, adaptive Kalman filter is used to get drift speed of each axle at each test position, and then drift parameter is calculated.
在噪声统计未知或时变的情况下，每个位置采用自适应卡尔曼滤波解算出平台各轴的漂移角速率，并在此基础上辨识出漂移参数。
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