In the monomer weighing aspect, this paper using the function chain neural network method to model building and study , Compensation electric bridge misalignment error.

在单体称量方面，本论文运用函数链神经网络方法建模学习以补偿桥路的非线性误差；

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In the case of large misalignment angles, quaternion error equation and nonlinear filtering can improve the performance of the in-flight alignment of SINS.

利用四元数误差方程和非线性滤波技术能较好地解决大失准角下SINS的空中对准问题。

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Theory analysis showed that the method of two-position alignment increases the observability degree of state variables, especially for the error of accelerometer and azimuth misalignment.

理论分析结果表明，两位置对准可以提高系统状态变量的可观测度，尤其对加速度计误差和方位失准角的可观测度提高作用明显。

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