针对制动之前较长时间的准备运行带来较大测量积累误差的缺点，采用向后数值积分的算法。
To solve the problem of growth in the error of long time of preparative running before braking, a backward algorithm is presented.
其次，建立了月球软着陆主制动段的误差模型，并运用误差敏感系数矩阵对所提出制导律的制导误差进行分析。
Secondly, error modules of main braking were established and errors of the guidance law designed above were analyzed by error sensitivity coefficient matrixes.
由于六轴平台的控制动作是由逆运算方式求得，造成位置误差会呈现累积现象。
The action controller of Stewart Platform is calculated by inverse kinematics and it is why we count up the error.
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