1. 鐭╅樀镄-1/2鏂规槸浠涔堬纻
鐭╅樀镄-1/2鏄阍埚逛簬姝ｅ畾鐭╅樀𨱒ヨ淬
锅囱続涓烘ｅ畾鐭╅樀锛屽垯瀛桦湪姝ｄ氦鐭╅樀Q鍜屽硅掔烦阒礑锛屼娇寰(Q^T)AQ=D锛屼篃鍗矨=QD(Q^T)銆傚洜涓篈涓烘ｅ畾鐭╅樀锛屽叾鐗瑰緛鍊煎叏閮ㄤ负姝ｆ暟锛屽洜姝D镄勪富瀵硅掑厓绱犻兘鏄姝ｆ暟锛屽洜姝ゅ彲浠ュ畾涔塂镄1/2锛屽嵆灏咲镄勪富瀵硅掑厓鍏ㄩ儴寮鏂癸纴镓寰楀硅掔烦阒佃颁负F锛孎鍗充负D镄1/2锛屾敞镒廎涓哄硅掔烦阒碉纴锲犳や篃鏄瀵圭О鐭╅樀锛屼笖D=F*F銆傛ゆ椂锛屽湪A=QD(Q^T)=QFF(Q^T)=QF(Q^T)QF(Q^T)=[QF(Q^T)] [QF(Q^T)]锛岃嫢璁癎=[QF(Q^T)]锛屽垯A=G*G锛屽洜姝G鍗充负A镄1/2鏂广侴镄勯嗕篃鍗充负A镄-1/2鏂癸纴镓浠A镄-1/2鏂逛负[QF(Q^T)]^(-1)=Q*F^(-1)*(Q^T)锛屽叾涓璅^(-1)鍗充负灏咲镄勪富瀵硅掑厓寮鏂瑰悗鍙栧兼暟镓寰楃殑瀵硅掔烦阒点