/// <summary>
/// 预报
/// </summary>
/// <param name="TransferMatrix"></param>
/// <param name="InverseWeightOfTransfer"></param>
private void Predict(IMatrix TransferMatrix, IMatrix InverseWeightOfTransfer)
{
// int stateRow = AprioriParam.RowCount;
//这两个矩阵的作用是什么？？？？ 2014.12.14,czs, namu shaungliao,
//IMatrix controlMatrix = new Matrix(stateRow, 1, 0.0);
//IMatrix controlInputVector = new Matrix(1, 1, 0.0);
// Compute the a priori state vector
IMatrix PredictParam = TransferMatrix.Multiply(AprioriParam);//.Plus(controlMatrix.Multiply(controlInputVector));
//IMatrix tranposOfTranfer = TransferMatrix.Transposition;
// Compute the a priori estimate error covariance matrix
// IMatrix CovaOfPredictParam1 = TransferMatrix.Multiply(CovaOfAprioriParam).Multiply(tranposOfTranfer).Plus(InverseWeightOfTransfer);
//此处解算结果完全一致，但是 CovaOfPredictParam1 计算的是 对角阵，BQBT 计算的是三角阵。BQBT该判断是否对角阵后计算，更能体现优势。
//应该进一步测试比较内存消耗和执行效率，最后决定采用方法。??? 2016.10.21, czs noted.
IMatrix CovaOfPredictParam1 = AdjustmentUtil.BQBT(TransferMatrix, CovaOfAprioriParam).Plus(InverseWeightOfTransfer);
//IMatrix q = CovaOfPredictParam1.Minus(CovaOfPredictParam);
this.Predicted = new Geo.Algorithm.Adjust.WeightedVector(PredictParam, CovaOfPredictParam1)
{
ParamNames = ObsMatrix.ParamNames
};
}
/// <summary>
/// 实用方法，Q为对称阵,速度较慢？摘抄自 宋力杰测量平差程序设计 P11
/// </summary>
/// <param name="B"></param>
/// <param name="Q">可能非对称</param>
/// <returns></returns>
public static IMatrix BQBT(IMatrix B, IMatrix Q)
{
return(AdjustmentUtil.BQBT(B, Q));
}
