Elastic distortion generated by gyro due to acceleration is the major factor of producing drift error.
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。
It is firstly put forward that the Angle vibration of platform under vibration situation is the main factor causing gyro drift and acceleration bias.
首次提出了振动条件下惯性平台角振动是导致加速度误差和陀螺漂移变化的重要因素。
With the estimation of the zero drift of accelerometer, the precision of the vertical velocity and height can be improved and the measurement of the acceleration can be got without zero drift.
该滤波器能够有效滤除海浪杂波的干扰，获得高质量的高度信号和垂向速度信号。
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