A backward registration method was proposed to reduce the accumulation error of registration of multiple depth pictures.
还开发了多帧匹配时的倒匹配方法，减少了多帧匹配的累积误差。
The rotation and location is under control of servo motor, the system adopts closed-loop control, so high precision for location, without repeating location accumulation error.
转盘的转动及定位由伺服电机控制，本系统采用全闭环控制，定位精度高，无重复定位累积误差。
To alleviate the accumulation error, a Kalman-filtering approach based on a nine-accelerometer configuration of NGMIMU is proposed. The state equation and estimation equation are also deduced.
本文基于NGMIMU九加速度计配置方案，利用卡尔曼滤波器抑制误差的累积，并且推导了卡尔曼滤波器的状态方程和预防方程。
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