The gyro vertical utilizes a gyroscope as an integrating device to obtain the average position of a pendulous gravity reference. 垂直陀螺利用一个陀螺仪作为积分装置以得摇摆不定的重力基准线的平均位置。
Two kinds of cases are studied: the vertical gyroscope and GPS are equipped; the angle velocity gyroscope and GPS are equipped. The minimum-sensors control system is studied separately for the cases. 接下来主要研究了基于垂直陀螺和GPS,以及基于三轴角速率陀螺和GPS两种传感器配置情形的最简控制技术,并将线性二次型LQ技术运用到最简控制的控制律设计中。