应用球面三角法和方向余弦矩阵法分别推导出双轴陀螺平台的支架误差公式，发现由这两种方法推导出来的公式计算结果是一致的。

Methods of spherical trigonometry and direction cosine matrix were applied respectively to derive the bracket error, and the two methods had the same error formula and the same calculation results.

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这里采用矩阵法建立了转台各个支路的位姿变换关系，提出了求解转台误差的数值方法，通过实例对该方法进行了验证。

The matrix approach is used to establish each branch's position and pose transformation relation, and a numeric method to solve the platform's error is presented, which is tested by an instance.

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用有限元传递矩阵法分析火炮身管固有振动特性，矩阵阶次低，计算所得的固有频率与实际固有频率接近，误差在允许的范围内。

Matrix step is low by using the finite element transfer matrix method. Natural frequency by calculation approaches to actual natural frequency and the error is allowable.

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