allan 方差（阿伦方差）是David AIlan于1966年提出的，最初该方法是用于分析振荡器的相位和频率不稳定性，高稳定度振荡器的频率稳定度的时域表征目前均采用Allan方差。由于陀螺等惯性传感器本身也具有振荡器的特征，因此该方法随后被广泛应用于各种惯性传感器的随机误差辨识中。(Allan variance (Allen variance) was proposed by David Allan in 1966. Initially this method was used to analyze the phase and frequency instability of oscillators. The time-domain characterization of the frequency stability of high-stability oscillators is currently based on Allan variance. Since gyros and other inertial sensors also have the characteristics of oscillators, the method is subsequently widely used in the random error identification of various inertial sensors.)