说明：  用卡尔曼滤波方法进行GPS静态和动态定位数据的处理。分别建立静态及动态模型及滤波方程，简述动态模型与静态模型的区别与联系；讨论R阵、Q阵，P0阵的选取对滤波精度及收敛速度有何影响，取值时应注意什么；讨论本滤波问题是否可以用最小二乘方法解决。
(Kalman filter is used to process GPS static and dynamic positioning data. Establish static and dynamic models and filtering equations respectively, briefly describe the difference and connection between dynamic model and static model; discuss how the selection of R matrix, Q matrix and P0 matrix affects the filtering accuracy and convergence speed, and what should be paid attention to when taking values; discuss whether the filtering problem can be solved by the least square method.)