Js6jdtyjkuykljm,ufl,uilGgggghdtjyrjkguop08pyjuerxerhjxhjxurudgbnzdgngfnxfh nmxghmvhj,jk.,6tr6ulylryur6ur6u8r6uiGjulctugfbezthnzdgbngnxfmcghmcgmjc ghmjhynjkctulcyil;yi 1 = 0.

024 rad

ii

2 1 2 hkhk 3 [buo[i0=
PDF() hyjfgtj
Z1meas = Z1true + 1

Xtrue (volts) Z1true

r1

z1 PDF(Z1meas =

Max prob(Z1meas) = max PDF(Zmeas)

dz1meas

hdtg006Avbnxcgnmjhmvhnm vhmchvmbmcvhmcvhmcgn bxcgnmcghmn v

fi(x1, x2, .

xN

) = fi(x)= hi1 x1 + hi2 x2 ++

xN

f1(x) fi(x)
. .
fN
m

(x)

= [H]x

Ns

Z meas N
m

1 2 2 2 N

in compact form,

Min J(x) = [Zmeas f(x)]T [R-1] [Zmeas- f(x)]

J ( x ) xi

J(x)= -2[H]T [R-1] Zmeas + 2[H]T [R-1] Zmeas

X est =[[ H ] T [ R 1 ][ H ]]1 [ H ] T [ R 1 ] Z meas

.(12)

{ Overdetermined (Nm> Ns)}

[H]-1 Zmeas <

1 est 2
est

X =

est

ndgtnzgtn