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