陀螺仪的

It measures accurately the peak value of the bell-like optoelectronic pulse signal come from coordinator gyro rotor ,which is used for the time standard in phase measurement.

提出了一种新的相位测量方法，该方法准确检测了从位标器陀螺仪输出的钟形光电脉冲信号峰值点的位置，并以其为时间基准点进行相位测量，同时判断被测两信号之间的时间间隔以及超前、滞后关系，同时针对在现场中的干扰因素，提出了相应的解决措施。

In plotting scene, the invention connects fiber-optic gyro(1) with full station instrument telescope(3) by adaptor(2), and make optical fibre gyro can follow full station instrument telescope simultaneously do 180 degree turning reel full station instrument cross shaft, respectively on two horizontal positions of east and west direction of gyro axis that differ by 180 degree; each horizontal position process 2 x 2 position gyro data acquisition on full station instrument perpendicular tray that differ by 180 degree; using formula to count out full station instrument collimation axis true azimuth, survey station meridian convergence angle, then can obtain full station instrument collimation axis grid azimuth, realize full station instrument orient.

基于光纤陀螺的全站仪组合定向方法是一种应用于测绘工作的基于光纤陀螺的全站仪组合定向方法，该方法在测绘现场，把光纤陀螺(1)通过连接装置(2)与全站仪望远镜(3)固连，使光纤陀螺(1)可随全站仪望远镜(3)绕全站仪横轴(4)同步做180度转动，分别在陀螺轴东西向相差180度两个水平位置，每个水平位置在全站仪竖盘相差180度的两个竖直位置进行2×2位置陀螺数据采集；利用公式算得全站仪视准轴真方位角、测站子午线收敛角，即可进一步获得全站仪视准轴坐标方位角，实现全站仪定向。

As one part of the project, the dissertation is developed with thelocalization problem in mobile robot navigation. Combined with "MobileRobot 1 of Central South university (MORCS-1)", a mobile robot designed byus that equipped with a 2D laser measurement system to sense the environmentand the proprioceptive sensors such as the odometry, gyroscope to calculate itsdead reckoning, the approach about the four kind uncertainty factors of mobilerobot localization is studied. These researches include that the error analysisand calibration of position sensors is implemented to reduce the measurementnoise, the 3D kinematic model of mobile robot is built to gain the accuratepose in complex terrain, some work on the automatic detection of static ordynamic obstacles based on laser scanner is investigated to eliminate thedynamic influence of the environment and to realize the reliably absoluteposition, and lastly a robust algorithm is presented to involve the incrementalenvironment mapping and self-localization of mobile robot with unknown dataassociation and to improve the self-localization performance of mobile robotunder unknown environment.

作为该项目研究的一部分，本论文以移动机器人导航中的定位问题为研究内容，利用自行研制的装配有二维激光雷达环境感知系统，并通过里程计、陀螺仪等内部传感器来实现航迹推测的移动机器人"中南移动1号MORCS-1"，重点围绕影响移动机器人系统定位的四类不确定性处理展开研究：通过移动机器人定位传感器的误差分析及校准，旨在消除传感器噪声所带来的测量误差；通过建立移动机器人的三维运动学模型进行航迹推测，以期实现复杂地形下精确的移动机器人本体姿态感受；通过基于激光雷达的动静态障碍的自主检测等相关研究，尽量消除环境的不确定因素影响进而实现可靠的移动机器人绝对定位；通过以上研究，针对未知数据关联下移动机器人增量式环境建图与自定位的研究提出一种鲁棒的滤波算法，改善未知环境中移动机器人自定位的性能。

The Wild GAKI Gyro Attachment is very useful, in any weather and at any time of the day or night, when it is necessary to establish a reference bearing at stations which have been fixed by arc intersection of distances, or by trilateration, with the electronic distance measuring instrument, Wild D1 50 Distomat.

Wild GAKI 陀螺附件在很多天气下，以及白天和黑夜的任何时间都是很有用的，这时，必须要建立一个支承在站台处基准，这些站台已经用距离的弧交叉，或用电子测距仪（Wild D1 50 Distomat）三边测量而固定。

Simulation results indicate that the drift of up gyro and the initial error of azimuth angle have significant effect on the positioning precision, however, compared with the drift of up gyro, the drifts of east and north gyros have less effect on the positioning precision.

第二，详细分析了东、北、天三个方向的陀螺漂移及初始方位误差角对SINS/里程仪组合系统定位精度的影响。

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。

As a kind of precisely inertial instrument, the orientational accuracy of the north-seeking system is decided by the accuracy of the gyroscope it used to a large extent.

在本文中我们研究的这种磁悬浮陀螺寻北仪，就是通过采用自适应控制方法，利用磁悬浮技术实现对单自由度陀螺框架轴的无摩擦悬浮，旨在得到更高的寻北精度，同时提高定向速度。

This paper presents a wind vane sensors without the use of cases, combining with gyroscopes and hill-climbing algorithm to control the yaw institutions, can accurately capture the wind direction signal, rapid-conditioning the cabin of the deflection angle, so that wind generators wind wheel normal direction of the wind direction and change is always consistent for maximum capture of wind energy control strategies.

针对风力发电机组的风向变化绝对值小于15°的风能捕获率问题，提出一种在不使用风向标传感器的情况下，采用陀螺仪和爬山算法相结合的方法来控制偏航机构，能够准确的采集到风向信号，快速调节机舱的偏转角度，使风力发电机风轮法线方向与变化的风向始终保持一致，实现最大捕获风能的控制策略。

For the problem that the extended Kalman filter is difficult to design and prone to diverge, the unscented Kalman filter algorithm based method is presented to solve the problems of the filter design and convergence. The error from the low-cost inertial gyro and accelerometer is compensated to achieve optimal attitude estimation. The filtered model is applied to the two-wheeled self-balanced robot system.

针对扩展卡尔曼滤波器设计困难并且容易发散的问题，提出基于采样卡尔曼滤波的方法解决滤波器设计及收敛问题，并补偿低成本的惯性传感器陀螺仪和加速度计的误差，从而得到机器人姿态的最优估计。

In the negative and interrogative forms, of course, this is identical to the non-emphatic forms.

。但是，在否定句或疑问句里，这种带有"do"的方法表达的效果却没有什么强调的意思。

Go down on one's knees;kneel down

屈膝跪下。。。下跪祈祷