根据各观测元素间所构成的几何条件以及起始数据间的强制条件，按最小二乘法的原理求得各观测值的最或然值，以消除由于多次观测产生的矛盾的平差方法。-According to the mandatory conditions for observing geometry among elements of the composition and the start of data between, according to the principle of least squares method to

Including quaternion various calculations, Graduation useful Through repeated training lZApOFXlate have higher recognition rate.