Fig. 1. Mechanical structure and functional schematic of the IRU's control system architecture

Fig. 2. Electrical model of IRU system

Fig. 3. Mechanical model of IRU system

Fig. 4. Disturbance suppression characteristics of IRU system

Fig. 5. IPSRU developed by Draper Lab and it's system disturbance suppression characteristics

Fig. 6. MIRU developed by BLUEHALO

Fig. 7. Linear accelerometer assisted line-of-sight stabilization system

Fig. 8. SIMS developed by Boeing SVS

Fig. 9. OIRU developed by BLUEHALO

Fig. 10. MIRU developed by advanced technology R&D center

Fig. 11. Experimental system for voice coil motor-driven IRU

Fig. 12. Experimental system for MEMS accelerometer and MEMS gyroscope fusion IRU

Fig. 13. Composite IRU experimental test system

Fig. 14. IRU closed-loop control structure based on inertial sensor group

Fig. 15. Schematic diagram of flexible hinge structure

Fig. 16. Fusion filtering schematic

Fig. 17. Speed-position-acceleration triple closed-loop control structure

Fig. 18. Schematic diagram of precision stabilization/tracking system with IRU assisting FSM

Fig. 19. Lunar Laser Communication Space Terminal（LLST）

Fig. 20. Schematic of OPTEL-D

Fig. 21. MLCD on-board terminal

Fig. 22. Schematic diagram of large-aperture electro-optical system with Optical-beam Stabilization Platform （OBSP）

Fig. 23. ATP payload of Micius satellite