最后，采用时间序列分析方法建立了半球谐振陀螺的随机误差模型。
Finally, the random error model of HRG is established by using time series analysis method.
在建立的时序数学模型中考虑了机床加工中的确定性误差和随机误差。
Both the deterministic and the stochastic errors du - ring machining are considered in the mathematical model.
根据该模型，采用卡尔曼滤波算法，实现了光纤陀螺惯导系统在对准与导航过程中光纤陀螺随机误差的实时滤波。
According to this model and the Kalman filter arithmetic, the FOG random error was filtered in real time in the process of initial alignment and navigation of FOG inertial navigation system.
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