If we heighten the precision of measuring equipment, the central difference's relative error of the estimation variance improved great, which is less than 10%.

若提高测量仪表精度，则中心差分法估计方差相对值明显改善，可提高到10%以内。

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Since there is no need to suppose the variance of error, the estimation method which we established is more efficient in application.

由于在估计方法中无需假定误差方差，因此，所构造的估计方法更符合实际应用情况。

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Detailed propagation formula of the state estimation error and its variance matrix are derived.

详细推导了状态估计误差及其方差阵的传播模型。

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