The observer using the coupling of axial and lateral and having feedback of acceleration is investigated . this method can estimate the angle of attack and the sideslip angle synchronously . an optimization named extrem is applied to optimize the feedback plus matrix 研究了采用纵横向耦合且具有线加速度反馈的非线性观测器方法，该方法能够同时估计迎角和侧滑角参数，并采用extrem优化方法对其反馈参数增益参数进行了优化设计。
