/// <summary>
/// Kalman滤波计算不变参数。
/// </summary>
/// <param name="input"></param>
/// <returns></returns>
private AdjustResultMatrix GetSequentialConst(AdjustObsMatrix input)
{
WeightedVector appri = null;
Matrix B2 = input.BuildCoeefOfConstParam();
if (LastConstResult != null)
{
var IsEqual = Geo.Utils.ListUtil.IsEqual(LastConstResult.ParamNames, input.SecondParamNames);
if (IsEqual)
{
appri = LastConstResult.Estimated;
}
else
{
appri = SimpleAdjustMatrixBuilder.GetNewWeighedVectorInOrder(input.SecondParamNames, LastConstResult.Estimated);
}
}
if (appri == null)//第一次，使用参数平差结果
{
ParamAdjuster paramAdjuster = new ParamAdjuster();
var paramResult = paramAdjuster.Run(new AdjustObsMatrix(input.Observation, B2, null, input.SecondParamNames));
appri = paramResult.Estimated;
}
AdjustObsMatrix obsMatrix1 = new AdjustObsMatrix(appri, input.Observation, B2, input.SecondTransfer);
obsMatrix1.ParamNames = input.SecondParamNames;
//var kalmanFilter = new SimpleKalmanFilter();
var res = MatrixAdjuster.Run(obsMatrix1);
return(res);
}