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，基于分段非线性权重值的Pso算法，从先验概率中采样，计算权重，最大似然（ML）准则和最大后验概率（MAP）准则，关于神经网络控制。- allan FOG output error variance analysis, For beginners with a reference value, Based on piecewise nonlinear weight value Pso algorithm, Sampling　a priori probability, calculate the weight, Maximum Likelihood (ML) criteria and maximum a posteriori (MAP) criterion, On neural network control.