本文采用球面三角形原理推导了导航定位误差与陀螺姿态误差的关系式。
The relation between the navigation errors and the attitude errors of gyro was derived by use of spherical triangle.
在测得转轮内部的绝对速度矢量后，按速度三角形原理进行分解，得到了绝对速度切向分量、相对速度及相对速度切向分量。
The absolute velocity was decomposed based on the law of velocity triangle, the absolute tangential velocity, the relative velocity and the relative tangential velocity were presented in this paper.
通过分析该算法的几何原理，构建三角形面片的权值计算公式。
Firstly, the weight's calculation formula of triangle patches is constructed by analyzing its geometric theory.
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