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中文摘要：
目前关于摆式陀螺运动规律的研究主要局限于小偏北角领域，不能满足全方位快速寻北技术对其大偏北角运动规律的要求。突破传统方法，首次提出并研究了摆式陀螺大偏北角运动特性，利用欧拉动力学方程建立摆式陀螺大偏北角运动模型并进行合理简化。针对模型的非线性特点，结合李亚普诺夫稳定性理论定性分析了其运动稳定性，得到具有唯一稳定平衡点的条件。与小偏北角时的情况不同，仿真结果表明犬偏北角运动时，摆式陀螺的陀螺轴绕其稳定平衡点的周期性摆动不再满足正弦变化规律，摆动周期随摆幅和悬带扭矩而改变。研究结论可为实现摆式陀螺寻北仪全方位快速寻北提供理论依据。
英文摘要：
The current research on motion of pendulous gyroscope is mainly limited in minute azimuth angle, which can＇t satisfy the requirement of quick omni-bearing north seeking. Unlike the traditional method, we made analysis on motion characteristics of pendulous gyroscope in large azimuth angle, established the motion model based on the Euler dynamical equations, and simplified it reasonably according to the actual conditions. Qualitative analysis of movement stability was made based on the Liapunov stability theory, and the condition where there is only one stable balance point was gained. Simulations show that when the azimuth angle is large, the movement of pendulous gyroscope around its equilibrium point is not a sine curve, which is different from the case in minute azimuth angle;and the swing period varies with pendulum deflection and torque of suspending string. These conclusions can provide a theoretical basis for quick omni- bearing north seeking with a large azimuth.
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