应用球面三角法和方向余弦矩阵法分别推导出双轴陀螺平台的支架误差公式，发现由这两种方法推导出来的公式计算结果是一致的。
Methods of spherical trigonometry and direction cosine matrix were applied respectively to derive the bracket error, and the two methods had the same error formula and the same calculation results.
研究结论可为其他三轴稳定平台结构设计和陀螺安装方式设计提供参考。
The research conclusion can provide reference for other types of three-axis stabilized platforms in their design of structure and gyro installation mode.
从而实现对三轴四频陀螺平台罗经理论和关键技术的验证。
The key technologies and control parameters of the RLG platform gyrocompass system are specially studied.
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