josh/doa_doppler_est
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josh 88a5e4b97d content: DoA-融合的多星位置下界 
各星只回传本地 DoA、几何交会的位置 CRB =（Σ H_ℓ^T C_{ξ,ℓ}^{-1} H_ℓ）^{-1}；位置节增 DoA-融合基线小节，附录增 H.4 推导，作多星合并性能下界锚。
 2026-06-22 12:27:04 +08:00