private AdjustResultMatrix GetRealTimeResult(AdjustObsMatrix input)
{
//构建不变参数的法方程
var newConstParamNe = input.BuildConstParamNormalEquation();
NormalEquationSuperposer.Add(newConstParamNe); //添加到法方程迭加器中
WeightedVector estY = NormalEquationSuperposer.GetEstimated();
AdjustResultMatrix result = Step3GetMutableX(estY, ObsMatrix); //求异变参数
return(result);
}
private static WeightedVector Step2GetConstY(List <MatrixEquation> normals)
{
NormalEquationSuperposer NormalEquationSuperPoser = new NormalEquationSuperposer();
//step 2： 求固定参数
foreach (var normal in normals)
{
NormalEquationSuperPoser.Add(normal);
}
return(NormalEquationSuperPoser.GetEstimated());
}
