| The dry tuned gyro (DTG) is an integral part of inertial measurement and control systems. The gyro rotor provides a frame of reference, fixed in inertial space, which can be used to measure the angular rates of the gyro case. Inertial measurement and control systems are used in a variety of applications including marine, aircraft and spacecraft. This document deals with the development and application of the non-linear, unsymmetric equations of motion of the gyro rotor and its gimbal suspension. The three dimensional kinematics of the gyro and gimbal were developed first. From the kinematic equations, the dynamic equations were derived using both a vectorial mechanics approach and Lagrange's equations. These two methods served to verify one another. The dynamic equations form the basis of a numerical simulation so that specific gyros can be modelled. The results suggest methods which may increase the accuracy of the gyroscope. |
