对于时间周期长于半秒，加速度的均值相对于陀螺仪占得比重更大，这时可能会有漂移。
For time periods longer than half a second, the accelerometer average is given more weighting than the gyroscope, which may have drifted by this point.
本文给出了利用加速度计输出标定惯性平台陀螺漂移的方法。
This paper presents a method to calibrate gyro drifts on inertial platform using output of accelerometers.
陀螺在加速度作用下的弹性变形，是产生漂移误差的主要因素。
Elastic distortion generated by gyro due to acceleration is the major factor of producing drift error.
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