余弦误差是指相机用中心对焦点对焦后，重新构图，这时可以看出，会导致实际焦点后移，后移量，与重新构图所旋转的角度成正比。
提出了同轴度误差的数学模型，其中给出一种高效的优化方法一余弦移位相加法。
The mathematic model of concentricity error and a advanced optimal method - "cosine shift plus" are put forward.
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.
结果表明，余弦形变幅杆共振频率的模态分析值与理论值比较吻合，平均相对误差为1.86%。
It is shown that the simulation result is consistent with that of the theory and the average relative error is 1.86%.
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