The method is simple and easy, can accurately master the posture information of the robot, is seldom affected by environment and is not easy to have null drift, and the invention has low cost.

该方法简单易行，能够准确的掌握机器人的姿态信息，同时受环境影响较小，不容易产生零点漂移，并且成本低廉。

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Automatic null-tracking technique overcomes slow system drift.

用自动零跟踪技术克服系统的缓慢漂移。

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