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双轴速率陀螺仪是一种新型的采用空间惯性导向技术的连续测量系统。它通过测量地球的旋转速率、重立场和传感器的工作状态来计算井眼的位置。根据井斜角的不同，该系统可在两种方式下工作，即陀螺罗盘测量技术和连续测量模式。陀螺罗盘测量技术是用来测量接近垂直井段井眼位置的，是通过静止地测量重力场和地球转速的分量来确定井斜角和方位角的，连续测量模式是用来测量大斜度井段井眼方向的，它通过在运动中测量井斜角和方位角的变化率确定井斜角和方位角。为了加快双轴速率陀螺仪在钻井工程中的更好应用，本文对该型陀螺仪的工作原理进行了探索，并根据理论力学和解析几何知识推导了两种方式下工作的解析数学模型。
Biaxial rate gyroscope is a new type of continuous measurement system using space inertial guidance technology. It calculates the location of the wellbore by measuring the rate of rotation of the earth, the position of gravity, and the working state of the sensor. Depending on the inclination of the well, the system can work in two ways, namely the gyro compass measurement technique and the continuous measurement mode. The gyro compass measurement technique is used to measure the wellbore position close to the vertical well section by determining the inclination and azimuth of the well by measuring the components of the gravitational field and the earth’s rotation speed in a static manner. The continuous measurement mode is used to measure the high deviated well Wellbore direction, which determines well inclination and azimuth by measuring well inclination and azimuthal rate of change during motion. In order to speed up the application of biaxial rate gyroscope in drilling engineering, this paper explores the working principle of this type of gyroscope. Based on the theoretical mechanics and analytical knowledge, the analytical mathematic model of the two modes is deduced.