说明和图纸应包括安装中设备重要部件的处理和吊运，安装误差及特殊预防措施。
The instructions and drawings shall include information of handling and slinging the major pieces of equipment, erection tolerances, and special precautions to be taken in the installation.
本文基于NGMIMU九加速度计配置方案，利用卡尔曼滤波器抑制误差的累积，并且推导了卡尔曼滤波器的状态方程和预防方程。
To alleviate the accumulation error, a Kalman-filtering approach based on a nine-accelerometer configuration of NGMIMU is proposed. The state equation and estimation equation are also deduced.
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