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中文摘要：
利用欧拉法建立了摆式陀螺寻北仪的运动方程，并根据摆式陀螺寻北仪的结构特点对运动方程进行部分线性化处理，得到了反映摆式陀螺寻北仪在大偏北角情况下不规则进动规律的二阶非线性微分方程组；根据李雅普诺夫稳定性理论对微分方程进行了定性分析，找出了摆式陀螺寻北仪在大偏北角运动时的平衡位置，分析结果表明，真北方向是摆式陀螺寻北仪唯一稳定的平衡位置。
英文摘要：
The motion equation of the pendulous gyroscope north-seeker is set up based on the Euler method, and which is partially linearized according with the structure characteristics of the pendulous gyroscope north-seek- er,and then the nonlinear differential equations of order 2 to reflect the anomaly precession of the pendulous gyro- scope north-seeker in large azimuth is found. The above differential equations are qualitatively analyzed based on the Lyapunove stability theory, and the stability position of the pendulous gyroscope north-seeker in large azimuth is found. The analyzing result shows that the real north is the only stability position of the pendulous gyroscope north- seeker.
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