By the UD decomposition of the one-step forecast mean square error matrix in which the fading matrix is introduced,the decomposition matrices are used in the process of updating the filter measurement information,then the stability of the algorithm\'s numerical value is intensified.

Based on quantitative indication to the R&D enhancement factor and R&D inter-enhancement matrixes,the authors set up the optimization model of arranging products\' multistage R&D plan,and illustrate how to run this model in the paper.