prediction error covariance meaning in English

预报误差协方差

This filter is a combination of adaptive ud decomposition kalman filter with quad method . it use quad method to detect and correct the gross errors in observations , use ud decomposition technique to improve computation precision and overcome the instability of filter caused by instability of values , when divergence of kalman filter had been detected , an adaptive filter is employed to adjust the prediction error covariance matrix
该法用拟准检定法准确地探测和修正量测方程中存在的粗差；用ud分解算法改进了计算精度，克服了由于数值不稳定带来滤波的不稳定性；当判断滤波器发散后，则启用sage自适应滤波器，调整预测误差方差，以克服滤波器的发散。