Object motion trail monitoring method based on gyroscope

The invention relates to the field of gyroscopes, in particular to an object motion trail monitoring method based on a gyroscope, which comprises the following steps: judging the state of a gyroscope carrier by using three-axis acceleration and three-axis angular velocity data output by the gyroscope; calibrating the state of the gyroscope; carrying out attitude calculation on the calibrated data, correcting the accelerometer to obtain an attitude transformation matrix, calculating an estimated value of the accelerometer, and obtaining an error vector of the accelerometer, a unit vector of the accelerometer, an Euler angle and an attitude angle; the method comprises the following steps: converting an object total vector under world coordinates into an object total vector under object coordinates, carrying out acceleration integration to obtain a speed through a first-order Runge-Kutta method, carrying out speed integration to obtain a displacement, and finally eliminating errors to obtain a final object coord