静电陀螺寻北仪的力学原理

静电陀螺仪是当今世界上精度最高的陀螺仪，研制静电陀螺寻北仪是为了寻求高精度的方位测量仪器。采用静电陀螺仪组成寻北仪可采用以下两种方式：力反馈方式和自由陀螺方式。前者水平方向包含两个力反馈回路，通过测量反馈回路电流得出方位角。后者陀螺自由转动数分钟，通过测量静电陀螺水平轴偏角得出方位角。该文讨论了力反馈方式和自由陀螺方式静电陀螺寻北仪力学原理，其中包括两种方式下坐标变换及获得方位角的算法推导，并得出结论。

Principle to determine azimuth with ESG north finder

Electrostatic-Suspended Gyroscope (ESG) is the most precise gyroscope in world nowadays. Using ESG to develop north finder is for the most precise north finder. The ESG north finder can work in two versions: torque rebalance method and free gyro method. In the first version there are two torque rebalance loops. The azimuth angle is gotten through measuring currents in equator axes' coils. In the second work version, free apparent motion continues for several minutes. Measuring angles of equator axes through photoelectric sensors, the estimate of azimuth can be obtained. This paper shows methods to determine azimuth with ESG north finder in torque rebalance method and free gyro method. It includes conversion of coordinate systems, algorithm deducting, etc.