Spatial reference direction determination - is relative to mobile frame using gyropendulum fitted with rotors

摘要

The device enables a spatial reference direction to be obtained relative e to a frame which can move in the air, on land, on or in water. The essential element is a gyro-pendulum fitted with one or more rotors, whose rotation axes can revolve about axes which are normal to each rotation axis respectively. Some of the rotation axes are brought towards their equilibrum or rest directions under the influences of an elastic force. The rod (1) of the gryro-pendulum can point in any direction in space by rotation about its own axis. One or more frames are attached to the rod, each frame having an inner (5, 6) and an outer part (3, 4). The inner frames (5, 6) support the rotor bearings (9, 10).