k

T = +

ds ...(1)

ri =
k

dT i
k
i x il + i +
l =1 dx
l

dT j
k
rj =
x j + j +
j
k
l
l =1 dx
l
3

dT i
k
i
ri r j =
xi + +
k
k
l
l=1 dx i
l
3

ds

l=1

dT i
k
dr ij =
x i + i
k
l
l=1 dx i
l
3

obs

dr ij = (t i t j )
k
k
k

ds ...(2)

ds ...(3)

dT j
k
j
x j
l
dx j
l

dT j
kj x lj j ...( 5)
l=1 dx
l
3

cal

(t i t j ) ...(6)
k
k

A p x p + C p M = T p ...(7)
Q DD A X + Q DD C M = QDD T ...(8)

][ ]

Y = QDD E Q DD T ...(9)
wE
wl

u
k

ds ...( 4)