Based on the existing study of incoherent dual point-source counteracting anti-radar missile (ARM),the attacking process of ARM was researched through analyzing the homing and moving theory of ARM,and the error distance of ARM disturbed by dual point-source was probed into.

And then the error distance of ARM disturbed by dual point-source was probed into.

New manipulator calibration method based on screw theory and distance error;

In order to improve the precision while the new system corrects distance error,a new method was proposed by error analysis and emulation computation.

Constraint equations were constructed by using distance error model,and the actual geometric parameters of the robot were solved,and then these parameters were used in the modified kinematics model.

First,ground static deviation information of GPS/GLONASS orientation system is get and is regarded as modification error of shut down point parameters while real-timely navigating,then the impact deviation is gained by calculating trajectory,that is navigation error caused by ground static deviation is get.

The simulation result shows that: if single-axle rotating modulation is used,the error caused by bias of gyros/accelerators can be compensated effectively,while navigation error caused by the initial position/velocity/attitude error can not be compensated.

It is also proposed that the closed track is propitious to eliminate the majority of navigation error.