Angle measurement method and device based on alternate complementary work of double-rate integrating gyroscope

The invention discloses an angle measurement method and device based on alternate complementary work of a double-rate integrating gyroscope.The method comprises the steps that: a pair of rate integrating gyroscopes A and rate integrating gyroscopes B are driven and controlled to perform alternate complementary work, and the rate integrating gyroscopes A is made to be in an excitation vibration state and a free vibration state alternately; and when the states of the rate integrating gyroscope A and the rate integrating gyroscope B are complementary, a signal of the rate integrating gyroscope Aor the rate integrating gyroscope B in the current free vibration state is selected as a detection signal. According to the method and device of the invention, a working mode that excitation vibrationand free vibration of the two rate integral gyroscopes are alternately complemented is adopted; by utilizing the advantage of high output precision of the rate integrating gyroscopes in a free vibration state, the defect of s