结果：提出了模型的一般框架，并给出了协方差密度的性质以及模型的拟合优度检验。
Results: a general framework of the model is established. The property of covariance density and the goodness of fit test are given.
针对单星调平台方案，提出了能够综合不同性质的修正指标性能的整体优化指标，选择单纯形调优法来确定最佳测星方位。
An optimum index that can compromise the performance of accuracy indices which have different properties is proposed, intending to get the best navigation star of the platform decline scheme,.
本文阐述了多指手控制的独特性质和存在的困难，较为全面地讨论了现有控制方法及其优、缺点；
This paper gives a survey to the research works of control and sensor for multi-fingered hand.
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