Gyroscope drift and its measurement.B.Principle of typical gyroscope instruments, such as gyro compass, gyro north finder, gyro horizon, platform compass, rate gyroscope and integrating gyroscope. 典型陀螺仪器(包括陀螺罗经、陀螺找北仪、陀螺地平仪、平台罗经、速率陀螺仪和积分陀螺仪等)的工作原理;
For theoretical development, the continuous and discretization models of gyros are derived meticulously through analyzing the correlations of the bias and measurement of gyro. The measure equations and relative analysis of infrared horizon sensors and digital sun sensor are also given at the same time. 分析了陀螺漂移和测量值之间的相关性,详细推导了陀螺准确的连续和离散化数学模型,同时给出并分析了红外地平仪和数字太阳角计的测量方程。