This paper gives the dynamic equations of vibratory wheel silicon micromechanical gyroscope and their motion law, analyses drifts of the gyroscope,when vehicle rotates around any axis uniformly.

• 推导了硅微机械振动轮陀螺仪的动力学方程；给出了它的运动规律；分析了载体绕空间任意轴匀速旋转时干扰力矩所引起的漂移率.