位置误差与姿态误差
Δ p = ∑ i = 1 6 ( ∂ p n ∂ θ i Δ θ i + ∂ p n ∂ d i Δ d i ) + ∑ i = 0 5 ( ∂ p n ∂ α i Δ α i + ∂ p n ∂ a i Δ a i ) + ∂ p n ∂ β 2 Δ β 2 + ∂ p n ∂ x 2 Δ x 2 + ∂ p n ∂ y 2 Δ y 2 + ∂ p n ∂ z 2 Δ z 2 \Delta p=\sum_{i=1}^{6}(\frac{\partial p^{n}}{\partial \theta_i}\Delta\theta_{i}+\frac{\partial p^{n}}{\partial d_i}\Delta d_{i})+\sum_{i=0}^{5}(\frac{\partial p^{n}}{\partial \alpha_i}\Delta\alpha_{i}+\frac{\partial p^{n}}{\partial a_i}\Delta a_{i})+\frac{\partial p^n}{\partial \beta_2}\Delta\beta_2+\frac{\partial p^n}{\partial x_2}\Delta x_2+\frac{\partial p^n}{\partial y_2}\Delta y_2+\frac{\partial p^n}{\partial z_2}\Delta z_2 Δp=i=1∑6(∂θi∂pnΔθi+∂di∂pnΔdi)+i=0∑5(∂αi∂pnΔαi+∂ai∂pnΔai)+∂β2
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