陀螺仪作为一种惯性测量器件，是惯性导航、惯性制导和惯性测量系统的核心部件，广泛应用于军事和民用领域。近廿年来，随着现代科学技术的发展，各种新型陀螺仪正逐步得到应用和完善，成为传统陀螺仪的竞争者。因此，掌握陀螺仪基本理论，学习新型陀螺仪原理及应用，是本专业研究生从事科学研究的基础。 本课程教学内容由两部分组成。 第一部分为课堂教学，有两方面的内容：（1）陀螺仪的基本理论，内容包括陀螺力学基础、陀螺仪运动方程建立、陀螺仪的漂移及其测试等；（2）典型陀螺仪器（包括陀螺罗经、陀螺找北仪、陀螺地平仪、平台罗经、速率陀螺仪和积分陀螺仪等）的工作原理。 第二部分为新型陀螺仪原理及应用，以课堂讨论为主，内容包括静电陀螺仪、激光陀螺仪、光纤陀螺仪、半球谐振陀螺仪、微机械陀螺仪等。重点为：（1）静电陀螺仪结构原理、静电支承原理、测角原理、动力学和漂移误差，以及静电陀螺仪惯性导航系统的工作原理及其应用；（2）光纤陀螺仪工作原理、光学系统的构成、功能元件分析、信号处理与检测技术和漂移误差分析，以及光纤陀螺捷联惯性系统的工作原理及其应用；（3）微机械陀螺仪的典型结构与工作原理、误差分析，以及微惯性测量系统的工作原理及其应用。

The gyroscope, one kind of inertial sensors, is the hard core of inertial navigation systems, inertial guidance systems, and inertial measurement systems. It has been used widely in military and civilian fields. In recent 20 years, with the development of science and technology, new-type gyroscopes have been improved greatly, and they have found more and more applications. They have become near rivals of conventional gyroscopes. Therefore, it is demanded for the graduates majoring in navigation, guidance and control to master the fundamental theory of gyroscopes and study the operating principles and applications of new-type gyroscopes, which are the basis of the research on navigation and guidance.This course consists of two parts : lectures, and dicussions. The following are taught in classroom: a.Fundamental theory of gyroscopes, consisting of kinematics and dynamics of gyroscopes, foundation for the gyroscopes’ motion equations, and gyroscope drift and its measurement. b.Principle of typical gyroscope instruments, such as gyro compass, gyro north finder, gyro horizon, platform compass, rate gyroscope and integrating gyroscope. The second part of the course, which is carried on via discussion, is new-type gyroscopes and their applications. Electrically suspended gyros (ESG), ring laser gyroscopes (RLG), fiber optical gyroscopes (FOG), hemispherical resonator gyros (HRG) and micro inertial sensors are included. The emphases are on : a.ESG. Principles of ESGs’ structure, electrical suspension and angle detection are involved. Besides, ESGs’ dynamics, drift and error analysis, principle and applications of ESG inertial navigation systems are discussed. b.FOG.The contents consist of FOGs’ operating principle, optical structure, function components, signal processing and measuring technic, error analysis, principle & applications of FOG inertial navigation systems. c.MEMS-based gyro.The contents comprising MEMS-based gyros’ structure, working principle, motion and error analysis, principle & applications of micro inertial measurement systems.