本文重点研究了卡尔曼滤波在静电陀螺监控器(ESGM)参数估计应用中滤波发散的问题。

This paper studies emphatically on the problem of filtering divergence when applies kalman filtering in the parameters estimation of electrostatic supported gyro monitor (ESGM).

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为了保证静电监控器的导航定位精度，需要了解静电陀螺的姿态误差特性，建立相应的误差方程。

The attitude error performance of electrostatic gyro should be understood and the relevant error equations must be set up in order to ensure the navigation precision of ESGM.

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