The kinematic parameters were optimized according to the error model which was obtained by totaldifferentiation.
建立了基于全微分理论的姿态测量机构坐标参数误差模型，实现机构运动学参数的优化设计。
2
Within the range of all uncertain factors being narrow, it is an ideal way for us to replace it with the totaldifferentiation method.
在诸因素变动幅度不大的条件下，代之以全微分法是一个理想的选择。
3
In this paper, using totaldifferentiation method and variation of constants, we give general solution formula of Bernoulli equation with different methods.