一、前言陀螺作为惯性元件用于导航是从第二次大战末期德国的 V-2火箭开始的,至今才有几十年历史。但在这几十年中,由于科学技术的发展,更由于军备竞赛的刺激,使之获得了飞速发展。目前已有数十种型号,精度提高了几个数量级——从初期的大约150°/小时提高到现 I. INTRODUCTION The gyro used as an inertial element for navigation started from the German V-2 rocket at the end of the Second World War and has been in existence for decades. However, in recent decades, due to the development of science and technology, the arms race has also stimulated its development. Dozens of models are available today, with orders of magnitude increased accuracy - from the initial approx. 150 ° / h to the present