Attitude and Reading Reference System and Inertial Navigation System Based on Gyroscopic Pendulums

摘要

An attitude and heading reference and inertial navigation system of the kind including, as sensors, two gyroscopic pendulums having upwardly and downwardly directed gyroscopic vectors, each gyroscopic pendulum being a two-degree-of- freedom gyroscope having gimbal suspension, and two accelerometers connected rigidly to the gyroscopes by mechanical means and operable in the two input axes of the gyroscopes, the output signals from the accelerometers being connected directly, via an amplifying circuit, to a gyroscope torquer situated orthogonally with respect to the gyroscopes, the system also including a computer to determine ground speed, position and north direction, in which the gyroscopic pendulums are arranged, in their null settings, along the vector of the earth's gravitational force. IMAGE