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Introduction:这家伙很懒,什么都没留下!
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Other】一般的线性方程我们可以用最小二乘来解,一般的非线性方程我们可以用LM来解。 这里是线性微分方程组,所以我们采用最小二乘来解。 关键是构造出最小二乘形式,微分可以通过前后数据差分的方法来求。 不过这里还有一个技巧就是如果数据前后帧间隔过大,可以先插值,再对插值后的数据差分如果实际测量数据抖动过大导致插值后差分明显不能反映实际情况,可以先对数据平滑(拟合或是平均)再求差分。(We can use least squares to solve
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