The velocity constraint subspace of each branch chain was obtained by means of solving the screw system of each branch chain of 3-PTT parallel mechanism.
通过求解3-PTT并联机构各支链的螺旋系得到各支链的速度约束子空间。
Under the constraint of DOA angles and sensor gains in the signal subspace, the estimation of sensor gain can be obtained without any calibration source.
运用信号子空间对信号DOA和通道增益的约束关系，在无校准源时，可以得到通道增益的估计。
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