陀螺仪的

For achieve two-wheel balanced function, we used fuzzy control algorithm to program the controlled codes. About the processes of control, the encoders is used to measure the angle and angular velocity of two wheels; the gyroscopei is used to measure the angular velocity of the robot; the inclined angle is got from integrating the angular velocity, and is adjusted by angle got from tiltmeter per second.

在控制流程中，用陀螺仪测量机器人倾斜角速度，透过积分得到机器人倾斜角度，且每隔1秒就用倾斜计测量的角度来校正陀螺仪积分角度，透过马达后方的光学编码器来得知马达转动角度与角速度，将陀螺仪、倾斜计与光学编码器的资讯作为控制器的输入，以模糊控制理论计算后，控制马达转动，以达到动态平衡的目的。

Add ball bearing metal tail grips with metal pitch slider and pitch plate, and you have a solid tail for maximized gyro hold.

含有球头轴承的全金属尾旋翼夹头，结合全金属螺距调节杆和调节块的设计可保证机子拥有一个坚固的尾部联动装置，从而使陀螺仪的作用发挥到最大程度。

On the basis of direct modelling method by using extended Kalman filter, a new method combining extended Kalman filter with adaptive extended Kalman filter is presented to model gyro drift directly from rotate angle of turntable. Extended Kalman filter has great estimation error, what is more, may be divergent if the model and noise statistic are not accurate or wrong. The new method solves the problem of general extended Kalman filter by using fictious noise with timevarying statistic to compensate the linearized model error of extended Kalman filter. The parameter estimators of single-axis and double-axis servo test are designed from it.

本文深入研究了根据伺服试验数据进行陀螺仪漂移误差模型建模的方法，在应用广义Kalman滤波器直接建模的方法基础上，针对广义Kalman滤波器对于不精确或错误的模型和噪声统计，估计误差较大，甚至滤波发散的缺陷，借助于用带时变噪声统计的虚拟噪声补偿广义Kalman滤波的线性化模型误差的新思想，提出了用广义Kalman滤波和自适应广义Kalman滤波算法相结合的方法由转台的转角数据直接建模陀螺仪漂移误差模型，并设计了陀螺仪单轴伺服和双轴伺服测试时参数估计的滤波器。

The stability of bearing materials is of utmost importance to the stability of the gyro.

轴承材料的稳定性对陀螺仪的稳定性是极为重要的。

A kind of BP adaptive fuzzy method using minimum standard deviation estimator to identify gyro random drift is proposed in the paper, and the mathematical model is established.

本文提出一种BP自适应模糊辨识法及其辨识过程，它充分利用了语言信息与数据信息，在线反向传播学习，实现对陀螺仪的随机误差的高精度辨识，使数据辨识的均方误差达到最小。

The frequency and relative phase of the two diode outputs indicate magnitude and the direction of the gyro's rotation.

频率和相对阶段的两个二极管显示，产出规模和方向的陀螺仪的旋转。

The main work and achievements are as following:An overview of gyros drift is presented. Its cause is analyzed and it is categorized into three types: constant drift, slope drift and random drift.

主要的工作及完成的任务如下：首先对陀螺仪的漂移进行了概述，分析了其产生的原因，并把它分为三种：常值漂移，斜坡漂移及随机漂移。

We have studied the basic structure of the lateral comb drive micromechanical silicon gyroscopes and discussed its working laws in details.

研究了硅微型梳状线振动驱动式陀螺仪的基本结构，详细讨论了它的工作原理。

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。

The error of inertial navigation systems is cumulated in course of time because of the drift of the measurement unit-gyroscope. Using the celestial navigation system and the information processing technology, the paper disscusses the INS/CNS integrated navigation systems.

惯性导航系统由于其感测元件—陀螺仪的漂移造成导航系统误差随时间不断累积，本文利用天文导航系统，结合信息处理技术，探讨了惯性/天文组合导航系统的相关问题。

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