Two kinds of cases are studied : the vertical gyroscope and GPS are equipped ; the angle velocity gyroscope and GPS are equipped . The minimum-sensors control system is studied separately for the cases .

接下来主要研究了基于 垂直 陀螺和GPS，以及基于三轴角速率陀螺和GPS两种传感器配置情形的最简控制技术，并将线性二次型LQ技术运用到最简控制的控制律设计中。