The constant angular rate was applied to three axis of turntable at the same time to actuate dynamic error term of accelerometer.

在三轴转台的三个轴上同时施加恒定角速率，激励出加速度计动态误差项。

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Based on the random error formulas of function, the error transfer formulas of acceleration at the vehicle mass center and axial angular rate were provided which were helpful.

根据函数随机误差公式，给出了载体质心处线加速度和轴向角速度误差传递公式，有利于惯性系统传感器的选择及系统的组建。

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Second, the rate of error convergence may be guaranteed rapidly by setting appropriate angular position, velocity and acceleration feedback gain Matrices;

二是可以适当的选择位置、速度和加速度反馈增益矩阵，从而加快误差收敛速度；

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