中文说明：该程序给出了基于AR时间序列建模的陀螺随机漂移模型，并利用卡尔曼滤波方法滤除陀螺随机漂移，经验证，有良好效果。
English Description：
The program gives the gyro random drift model based on AR time series modeling, and uses Kalman filter to filter out the gyro random drift, which is verified to be effective.