Review article

Gyroscopes for Orientation and Inertial Navigation Systems

Radovan Marjanović Kavanagh

Abstract

In this paper the main elements of gyro-theodolites and inertial navigation systems are provided. The main function principles of mechanical gyros are explained and the main difficulties in maintenance and sources of errors while measuring with gyros and gyro-theodolites are listed. The principles of RLG and FOG gyros and the principles of inertial navigation are explained. The main differences of a guided platform and a strap-down system are explained. A brief review of mathematical expressions for position coordinate- determination from double integration of acceleration measurements from accelerometers is given. It is indicated on difficulties in INS application during a long time period caused by insufficient knowledge of gravity acceleration due to locally gravity anomalies and gyro-drift. The necessity of INS signal correction using another positioning system like GNSS is pointed out, applying Kalman filter algorithms for interpolation between two measuring points so as position prediction of points which are not measured.

Keywords

Inertial Geodesy; Inertial Systems; Gyroscope; Gyro-theodolite; RLG; FOG; Inertial Platform; Strap-down System; Accelerometer; Centrifugal force; Corriolis acceleration; Gravity; Mechanization equations; Kalman filter

Hrčak ID:

13136

URI

https://hrcak.srce.hr/13136

Publication date:

20.6.2007.

Article data in other languages: croatian

Visits: 5.439 *