The stability and small dynamic errors could be confirmed by using the method of composite control in which the pitch angular rate of barbette sensed by INS was feed back and compensated in advance.
用复合控制把惯导系统测量的炮塔俯仰转动角速度（扰动角速度）反馈到控制前端，进行预先补偿，可保证小的瞬态误差和系统的稳定性。
The extended track is then modified by the local systematic errors, and then relay tracking algorithm is worked to produce composite track.
并利用外推的区域性系统误差修正外推航迹，之后进行航迹识别和接力跟踪，生成合成航迹。
The principle of the analog-digital composite compensation technique is described and the factors causing fitting errors arc analyzed. The formula for calculating the maximum error is derived.
还叙述了模-数混合补偿技术的工作原理，分析了引起拟合误差的因素并推导出计算最大误差的公式。
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