Estimation
¥
¥
¥
(
z
j
- H(
Fap
j
,Fpa
j
))
t
R
-
j
1
(
z
j
- H(
Fap
j
,Fpa
j
))/2 +
(
p
j
- P
j
)
t
R
-
j
1
(
p
j
- P
j
) /2
¥
¥
The rubber bands are the prior estimates of
parameters