陀螺

And an on-line adaptative training algorithm of the weights of neuron is given, which enhances fusion precision of the model, fault tolerance and adaptive ability for subsystems 4 In order to diagnose the soft fault of integrated system, a new fault detection method is proposed based on federated filter, which can detect fault of system in short interval and greatly enhance the method sensitivity to fault A fault diagnosis method of Dynamically Tuned Gyro baesd on parameter estimation of kinetics model of rotor, and signal pretreatment, parameter estimation and strategy of fault identification are studied in detail The method can locate fault of DTG correctly and effectively, which provides a new approach and idea for gyro fault diagonsis 5 In order to diagnose the hard fault of integrated system, fault tree analysis is studied on fault disgnosis of integrated system circuits, and the hardware and software of disgnosis system are developed, with faults located to main module and circuit For futhur diagnosis, an optimal measurement technology in detection of circuits is discussed by improving an algorithm based on information theory, and a pratical method based on half-split method is proposed.

针对组合系统的软故障诊断问题，提出了基于联合滤波模型的一种新的故障检测算法，给出了算法的理论推导过程，该算法能在较短的时间内检测出系统故障，提高了算法对故障的敏感度；研究了基于动调陀螺转子动力学模型参数辨识的故障诊断方法，就其中的信号预处理、参数辨识及故障决策方法等关键技术进行了详细的研究，该方法可以正确、有效地检测与定位动调陀螺故障，为陀螺故障诊断提供了新的途径和思路。 5。针对组合系统的硬故障诊断问题，研究了基于系统浅知识推理的故障树法在组合系统电路子系统故障诊断中的应用，开发了相关诊断系统的软硬件，故障可定位到系统的主要功能模块和电路板级。为了进一步的故障定位，研究了电路板故障的最优检测问题，完善了基于信息理论的优化算法，并提出了基于&对分法&的一种实用的优化算法，故障可定位到电路板的主要功能元件级。在组建的SINS/GPS组合系统实验平台上，针对上述研究内容，进行了大量的实验研究。

In order to give the gyroscope test terrace power supply, it demand designing the appropriation of the gyroscope of the different category triphase power supply to give the power supply to the different category gyroscope.

为了给陀螺测试平台供电，需要设计不同种类的陀螺的专用三相电源，以便给不同种类的陀螺供电。

One, with a fan and some bits of paper, performed the graceful trick of the butterflies and the flowers; another traced in the air, with the odorous smoke of his pipe, a series of blue words, which composed a compliment to the audience; while a third juggled with some lighted candles, which he extinguished successively as they passed his lips, and relit again without interrupting for an instant his juggling.

还有一个耍弹簧地陀螺的演员，他使那些地陀螺滴溜溜转起来配合得极其巧妙，看了简直叫人难以置信，这些嗡嗡作响的陀螺在他的操纵下，活象是一些旋转不停的有生命的小动物，它们能在烟斗杆上，军刀刀口上，以及在那些拉在舞台上的头发一样细的钢丝上旋转着跑个不停，它们能围着几个大水晶瓶打圈转，它们能爬竹梯，能四面八方到处跑，同时发出各种不同的响声。

The observation equation built in this paper is nonlinear. After linea-rization, it can be seen that, the error of the angular sensor on ESG's outer gimbal axis is equal to the azimuth error of ESG, while that on ESG's inner gimbal is coupled from the elevation and the azimuth errors of ESG.

本论文所建立的量测方程是非线性的，其在标称状态的线性化方程表明：静电陀螺外框架轴上的角度传感器的输出误差等于陀螺主轴的方位角误差，内框架轴上的角度传感器的输出误差包括陀螺主轴的高度角误差和方位角误差的耦合量，其中方位角误差的耦合分量是由复示水平基准误差引起的。

Therefore, we can choose a little worse east and north gyros to cut down the cost of the navigation system.Thirdly, SINS/OD integrated system fails to diminish the error of azimuth angle, this paper introduces the regional positioning system based on Pseudo-Satellite as a member of the integrated system to diminish the error of azimuth angle in the moving state, and further improve the precision of positioning and orientation.

仿真结果表明，天向陀螺漂移和初始方位误差角对系统的定位精度影响较大；而东向和北向陀螺漂移对系统定位精度的影响较小，因此系统中就可以适当放宽对东向和北向陀螺精度的要求，这样就可以适当降低系统的成本。

With that the random noise is filtered out.The change of the wavelength may lead to the drift of the non-exchange phase drift, so influence the stability of the scale factor, also it is known the temperature is the key factor that affect the wavelength of the light-source.

论文在详细分析各种噪声的基础上围绕提高陀螺稳定性和精度做了以下工作：在深入分析陀螺物理特性的基础上，通过试验确定了陀螺系统的传递函数，通过分析将传递函数离散化并应用于自适应滤波，主要是滤除随机噪声。

Fiber optic gyroscope is a new type of gyroscopes, which will replace the mechanical gyrocopes in 90's.

光纤陀螺是一种在90年代将取代传统机械陀螺的新型陀螺。

The main factor that affects the precision of FOG is its drift. As filtering can eliminate the drift effectively, it can improve the north-seeking precision.

影响光纤陀螺寻北仪精度主要因素是陀螺漂移，通过滤波能有效地克服陀螺的漂移，从而提高精度。

operation process and arithmetic of the two-position gyro-based north seeker are introduced.

文章介绍了二位置陀螺寻北仪工作过程及算法原理，它采用陀螺仪在相差180°的两点上采样相互对消陀螺常值漂移的方法，提高寻北精度；其突出特点是结构简单，实现方便，精度较好；为了提高寻北精度和缩短寻北时间，文章找出误差源中的转位误差，并分析了转位误差对寻北误差的影响，推导了误差公式，得出转位误差引起的寻北误差是一个常量的结论，同时提出了转位误差的测量与补偿方法。

According to a torque feedback rate gyro,it designs the rebalance loop.The experimentation concludes the change tendency of parameter of the head of meter in different input frequency,so that the change tendency of damping ratio and torsion pendulum in the whole frequency is determined.

针对某力矩反馈速率陀螺仪设计了再平衡回路，试验确定了不同输入频率下陀螺表头参数的变化趋势，从而得出陀螺的主要性能参数阻尼比及转动惯量在整个频段内的变化趋势。

But we don't care about Battlegrounds.

但我们并不在乎沙场中的显露。

Ah! don't mention it, the butcher's shop is a horror.

啊！不用提了。提到肉，真是糟透了。