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发明的背景现代的一些导弹系统可用像捷联式惯性测量装置这样的弹上对准装置。一般地说,惯性测量装置由三个陀螺、三个加速度表和包括计算机在内的电子装置所组成。这些设备可用来确定和保持一个基准坐标系,由此得出速度和位置。然而,除非采用非常精密的垂直陀螺仪,否则没有某种附加的设备,捷联式惯性测量装置的精确方位自主对准是不可能的。这种附加的设备,例如能使惯性测量装置对准方位,或者最低限度能使垂直陀螺仪对准方位,通过90°或180°,以确定陀螺的短期的漂移,也就是说,在使用陀螺仪确定方位以前,先对其进
BACKGROUND OF THE INVENTION Some modern missile systems may use snap-on alignment devices such as strapdown inertial measurement devices. In general, inertial measurement devices consist of three gyroscopes, three accelerometers, and electronics including a computer. These devices can be used to determine and maintain a base coordinate system from which to derive the speed and position. However, unless a very precise vertical gyroscope is used, no additional equipment is available, and accurate azimuth autonomous alignment of the strapdown inertial measurement device is not possible. Such additional equipment, for example, enables the inertial measurement device to be oriented or, at a minimum, to align the vertical gyroscope in azimuth through 90 ° or 180 ° to determine the short-term drift of the gyroscope, that is, Before determining the orientation, first of its into