The multi-period disturbance torque is related to three-axis rotate speed of turntable and influences localization precision, position precision and speed precision of turntable.

该多周期扰动力矩与转台三轴转速有关，影响转台的定位精度、位置精度和速率精度。

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Experiments show its effectiveness for localization of mobile robot formation, as well as robustness against environment disturbance.

实验证明该方法能够有效地对编队的移动机器人定位，同时对环境干扰具有鲁棒性。

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Low level image processing is the base of localization. The paper discusses time domain filtering and frequency domain filtering according to the noise disturbance in the surrounding images.

低层视觉图象处理是视觉定位的基础，针对环境图象存在噪声干扰的特点，文章分别从时域和频域上分析了图象滤波的方法。

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