考虑雨衰 阴影 和多径影响，光纤陀螺输出误差的allan方差分析，对于初学者具有参考意义，现代信号处理中谱估计在matlab中的使用，毕业设计有用，各种kalman滤波器的设计。- Consider shadow rain attenuation and multipath effects allan FOG output error variance analysis, For beginners with a reference value, Modern signal processing used in the spectral estimation in matlab, Graduation useful Various kalman filter design.