第6章-陀螺仪漂移及测试

1、2022-5-1012022-5-102 2022-5-103HM/bd 2022-5-104 2022-5-10522dydxd2022-5-106 2022-5-107 2022-5-1082022-5-109ydep2022-5-10102022-5-10112022-5-10122022-5-1013ydep l 2022-5-1014 Teiey ipiep y/dipepT 2022-5-1015pedsinpedpd2022-5-1016 biBMMHIKyxyx/iBMbdHIKHM2022-5-1017 2022-5-1018 2022-5-1019 2022-5-1020

2、1陀螺输入轴沿当地前垂线方向sineeysin/xeBMzbdHIKHmglMzxylzoly2022-5-1021 2陀螺输出轴沿当地铅垂线方向KeeycoscosK/HIKHMeBxMbdcoscoszxylzoNKly2022-5-1022 3陀螺自转轴沿当地铅垂线方向 KeeycoscosK/HIKHmglMeBxMybdcoscoszxylyoNK2022-5-1023 2022-5-1024212dncc( ) c ()aa 2022-5-1025zxxzzyyzyxxyzzzyyyxxxzzyyxxdaaDaaDaaDaDaDaDaDaDaDD2220 xyzaaa a 2022

3、-5-1026zxxzzyyzyxxyzzzyyyzzyydaaDaaDaaDaDaDaDaDD220 xyzaaaa2022-5-1027 xyzaaaayipzxxzzyyzyxxyzzzyyyzzyyxxdaaDaaDaaDaDaDaDaDaDD)(2202022-5-1028 2022-5-1029 cos01exMDDIK0zyaacoseey1xa2022-5-1030 位置位置2 2 ：1xa0yzaacoseeycos02exMDDIK2022-5-1031 1ya 0zxaasineey30sinMyyyeK IDDD2022-5-1032 1ya0zxaasineeysin

4、04eyyyMDDDIK2022-5-1033 1za0yxaacoseey50cosMzzzeK IDDD2022-5-1034 位置位置6 6 ：1za 0yxaacoseey60cosMzzzeK IDDD2022-5-1035 1xa0yzaacoseeycos07exMDDIK2022-5-1036 位置位置8 8：1xa0zyaacoseeycos08exMDDIK2022-5-1037xDyyDzzDcos01exMDDIKcos02exMDDIK122cos/()MupeKII012()/ 2upMupDKIIcos07exMDDIKcos08exMDDIK782cos/()M

5、downeKII078()/ 2downMdownDKII 2022-5-1038122cos/()MupeKII782cos/()MdowneKII()/ 2MMupMdownKKK 2022-5-1039 30sinMyyyeK IDDD43()/2sinyMeDKIIsin04eyyyMDDDIK2022-5-104056()/2coszMeDKII50cosMzzzeK IDDD60cosMzzzeK IDDD 2022-5-104101278()/4MDKIIIIcos01exMDDIKcos02exMDDIKcos07exMDDIKcos08exMDDIK7812()/4xMDKIIII 2022-5-1042340()/2yyMDK IID30sinMyyyeK IDDDsin04eyyyMDDDIK 2022-5-1043 60cosMzzzeK IDDD560()/2zzMDKIID50cosMzzzeK IDDD2022-5-10442022-5-10452022-5-10462