推导了硅微机械振动轮陀螺仪的动力学方程，给出了它的运动规律，分析了载体绕空间任意轴匀速旋转时干扰力矩所引起的漂移率。
This paper gives the dynamic equations of vibratory wheel silicon micromechanical gyroscope and their motion law, analyses drifts of the gyroscope, when vehicle rotates around any axis uniformly.
本文利用刚体定点运功的一阶正规型方程组建立带液体环阻尼器的自由陀螺仪的运动方程。
The motion equations for a free gyroscope with an annular damper are established by application of the equations of 1-st order in normal form for the motion of the rigid body.
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