The error calculating method using the homogeneous coordinate transformation matrix together with forward and inverse kinematics and the corresponding error compensation strategies were proposed.
提出了利用齐次变换矩阵和正向、逆向运动学相结合的误差计算方法以及相应的误差补偿策略；
The matrix approach is used to establish each branch's position and pose transformation relation, and a numeric method to solve the platform's error is presented, which is tested by an instance.
这里采用矩阵法建立了转台各个支路的位姿变换关系，提出了求解转台误差的数值方法，通过实例对该方法进行了验证。
To deal with the problem, a new method of focusing transformation based on differentiating covariance matrix is proposed to eliminate noise, and hence reduce the focusing error.
为了处理这个问题，提出了一个新的方法，聚焦变换的基础上鉴别协方差矩阵，以消除噪声，并因此减少聚焦误差。
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