对于时间周期小于半秒，陀螺仪的积分将会占优，水平加速度的噪声将会被滤去。

For time periods shorter than half a second, the gyroscope integration takes precedence and the noisy horizontal accelerations are filtered out.

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在软件设计中加入了陀螺仪的测漂和定标过程，在水平初始对准、方位初始对准过程中运用了卡尔曼滤波技术。

In the software design the gyro's drift measure and the process of calibration is added. The Kalman filtering technique is used in the horizontal initial alignment and the azimuth initial alignment.

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