与传统计算力矩法相比，在不要求加速度测量和惯性矩阵求逆的情况下，算法给出清晰的跟踪误差收敛域。

Compared with the computed torque method, the algorithm can give error convergence bound clearly without acceleration measurement and inverse inertia matrix.

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研究寻北仪惯性传感器信号处理问题，采用基于小波域的隐马尔可夫模型(WHMM)，对连续旋转式寻北仪陀螺的输出信号进行降噪处理。

The problem of signal processing in north-finders has been studied. The wavelet-based hidden Markov models (WHMM) are used to denoise the Gyros output signals in continuous rotary north-finders.

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