光纤陀螺输出误差的allan方差分析，多抽样率信号处理，本科毕设要求参见标准测试模型，快速扩展随机生成树算法，多目标跟踪的粒子滤波器，采用波束成形技术的BER计算。-allan FOG output error variance analysis, Multirate signal processing, Undergraduate complete set requirements refer to the standard test models, Rapid expansion of random spanning tree algorithm, Multi-target tracking particle filter, By applying the beam forming technology of BE.