This paper gives the dynamic equations of vibratory wheel silicon micromechanical gyroscope and their motion law, analyses drifts of the gyroscope, when vehicle rotates around any axis uniformly.

Gyroscope: a mechanical gyroscope consists of a rapidly spinning wheel set in a framework that permits it to tilt freely in any direction or to rotate about any axis.

Hold the spinning Bicycle Wheel Gyroscope with its axis horizontal.