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为了减少陀螺仪的误差并提高其精度，需要对陀螺仪误差进行估算与补偿，因而建立了陀螺仪的随机误差模型。在环形激光陀螺仪（ＲＬＧ）随机误差模型分析方法中，有功率谱密度（ＰＳＤ）分析，时序ＡＲＭＡ模型，及Ａｌａｎ方差分析。Ａｌａｎ方差分析是在时域上对频率稳定性进行分析的一种通用方法。在Ａｌａｎ方差与ＰＳＤ之间存在定量的关系。通过分析Ａｌａｎ方差，可以分辨出存在于ＲＬＧ中的各种类型噪声。Ａｌａｎ方差分析比在频域上分析ＰＳＤ简单得多。该文用Ａｌａｎ方差对Ｌ－１环形激光陀螺仪进行了具体的分析，得到了存在于Ｌ－１环形激光陀螺仪中的各误差源。表明Ａｌａｎ方差是建立激光陀螺仪随机误差模型的一种很实用的方法。
In order to reduce the error and improve the accuracy of the gyroscope, the error of the gyroscope needs to be estimated and compensated. Therefore, a random error model of the gyroscope is established. In the RLG random error model analysis method, there are power spectral density (PSD) analysis, time-series ARMA model, and Alan variance analysis. Alan variance analysis is a general method of frequency stability analysis in the time domain. There is a quantitative relationship between Alan variance and PSD. By analyzing the Alan variance, various types of noise present in the RLG can be discerned. Alan variance analysis is much simpler than analyzing the PSD in the frequency domain. In this paper, we analyze the L-1 ring laser gyroscope with Alan variance and get the error sources existing in the L-1 ring laser gyroscope. It shows that Alan variance is a very practical method to establish the random error model of laser gyro.