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.
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。
Comparing with the Linear Minimum Mean Square Error (LMMSE) channel estimation method, the method is simple and need not know the channel correlation and signal-to-noise (SNR).
与已有线性最小均方差(LMMSE)信道估计方法相比，该算法简单并且不需要预先知道信道相关矩阵以及信噪比等信道信息。
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