代码分解
===========

.. list-table:: 公式-代码速查
   :widths: 130 70
   :header-rows: 1
   :align: center
   :class: longtable

   * - 公式
     - 程序
   * - :math:`\delta{y} = \mathrm{H} \mathrm{U} v`
     - `da_transform_vtoy`
   * - :math:`v = \mathrm{U}^T \mathrm{H}^T \delta{y}`
     - `da_transform_vtoy_adj`
   * - :math:`\delta{y} = \mathrm{H} \delta{x}`
     - `da_transform_xtoy`
   * - :math:`\delta{x} = \mathrm{H}^T \delta{y}`
     - `da_transform_xtoy_adj`
   * - :math:`\delta{x} = \mathrm{U} v`
     - `da_transform_vtox`
   * - :math:`\delta{x} = \mathrm{U}^{-1} v`
     - `da_transform_vtox_inv`
   * - :math:`v = \mathrm{U}^T \delta{x}`
     - `da_transform_vtox_adj`
   * - :math:`\nabla J`
     - `da_calculate_gradj`
   * - :math:`\nabla J_o = - [y - H(x_b) - \mathrm{H}(\delta{x})] \mathrm{R}^{-1}`
     - `da_calculate_grady`
   * - :math:`y - H(x_b)`
     - `da_get_innov_vector`
   * - :math:`y - H(x_b) - \mathrm{H}(\delta{x})`
     - `da_calculate_residual`
   * - :math:`\nabla J_o = - [y - H(x_b) - \mathrm{H}(\delta{x})] \mathrm{R}^{-1}`
     - `da_jo_and_grady`
   * - :math:`J_o = \frac{1}{2}[y - H(x_b) - \mathrm{H}(\delta{x})]^T \mathrm{R}^{-1} [y - H(x_b) - \mathrm{H}(\delta{x})]`
     - `da_jo_and_grady`
   * - :math:`\mathrm{U_v}`
     - `da_transform_vvtovp`
   * - :math:`\mathrm{U_v}^{-1}`
     - `da_transform_vvtovp_inv`
   * - :math:`\mathrm{U_v}^{T}`
     - `da_transform_vvtovp_adj`
   * - :math:`\mathrm{U_v}^{-1}`
     - `da_transform_vptovv`
   * - :math:`\mathrm{U_p}`
     - `da_transform_vptox`
   * - :math:`\mathrm{U_p}^{-1}`
     - `da_transform_vptox_inv`
   * - :math:`\mathrm{U_p}^T`
     - `da_transform_vptox_adj`
   * - :math:`\mathrm{U_h}`
     - `da_transform_vtovv`
   * - :math:`\mathrm{U_h}^{-1}`
     - `da_transform_vtovv_inv`
   * - :math:`\mathrm{U_h}^T`
     - `da_transform_vtovv_adj`