文中利用连续二次积分法和虚功法很好地解决了这一问题。

And both the continuous double integral method and the virtual work method used in this paper can solve this problem well.

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在二次积分模型的基础上，采用了采用了势能函数进行控制设计，该势能函数是基于电势场的概念提出的。

Based on the double integrator model, a control strategy is designed by using potential function which is proposed from the perspective of electric potential.

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对线加速度计辅助惯性姿态角测量的误差分析表明，测量误差由加速度计噪声、二次积分离散化、信标噪声和加速度计频率特性误差组成。

The error analysis shows that the measurement error is caused by the noise of the accelerometer, discrete double integration, noise of beacon and frequency characteristic error.

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