采用抖动剥除算法能够使二频机抖陀螺的输出信号达到零延时。现有的抖动剥除算法无一例外地采用外部参考信号进行剥除运算,外部参考信号的获取会增加系统的复杂度。为了使抖动剥除更加容易实现,提出了一种新的基于自锁相的抖动剥除方法,用陀螺本身来获取抖动信号,不再需要外部参考信号。这种方法硬件结构简单,同时实验结果证明其输出结果不差于采用外部参考的方法。该方法使二频机抖陀螺可以很方便地应用于实时控制领域。 Using dithering algorithm can make two-frequency jib gyro output signal to zero delay. The existing jitter stripping algorithm invariably adopts an external reference signal for stripping operation, and the acquisition of an external reference signal increases system complexity. In order to make the jitter stripping easier, a new jitter stripping method based on self-phase-in is proposed, in which the gyro itself is used to obtain the jitter signal, and no external reference signal is needed. The hardware structure of this method is simple, and the experimental results prove that the output is not worse than the method of using external reference. This method makes the two-frequency jib gyro can be easily applied to the field of real-time control.