光纤陀螺输出误差的allan方差分析，最大似然（ML）准则和最大后验概率（MAP）准则，连续相位调制信号(CPM)产生，IMC-PID是利用内模控制原理来对PID参数进行计算。- allan FOG output error variance analysis, Maximum Likelihood (ML) criteria and maximum a posteriori (MAP) criterion, Continuous phase modulation signal (CPM) to produce, The IMC- PID is using the internal model control principle for PID parameters is calculated.