... 速度因素 speed factor 速度约束 constraint of velocity 速度增量 velocity increment ...
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基于次铰全自由度表达模型，推导闭链加速度约束等式；
The acceleration constraint equation is obtained based on the six DOF model of secondary joint.
在基于视线角速度约束的改进方案中，允许视线做有向旋转。
In the improving scheme based on LOS-rate restriction, the directional rotation of LOS is allowed.
针对这些不足，通过使用动态速度约束和光流法对算法进行了改进。
To surmount these disadvantages, dynamic speed constraint and optical flow method were introduced.
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