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本文从理论上分析了三种常用的陀螺定向计算方法（舒勒平均值法、相关平差法和托马斯均值法）估值的偏差性质和大小，确定了最优的估值方法，并讨论了最佳观测方案。
In this paper, we analyze theoretically the nature and magnitude of deviations of the three commonly used methods of gyro-directional calculation (Schuler’s average method, correlation adjustment and Thomas’s method), and determine the optimal estimation method Best observation program.