Professional Documents
Culture Documents
Meridian Surveyor
System Manual
Covers Software Version 1.6x
Abcdef
Document P/N 060079
Issue 2.1
© SG Brown September 2002
Contents
CAUTIONARY NOTICES
Your attention is drawn to the following cautionary notices that apply throughout this Manual.
WARNING
The Meridian Surveyor weighs 15.5kg. To avoid personal injury, take proper precau-
tions if you lift or move the equipment.
CAUTION
The Meridian Surveyor includes precision components and bearings. To avoid causing
damage to any part of the System, handle all items with care.
Retain the original transit cases so that you can use them to transport the system when
necessary. You will void the warranty if you use improper packing during transporta-
tion.
CAUTION
Severe damage to the Meridian Surveyor can occur if you move the gyrocompass while
the rotor is still spinning without the servo system in operation.
Note that the gyro rotor continues to spin for approximately five minutes after you
power-off the system.
To avoid potential damage to the Meridian Surveyor, always allow a period of five min-
utes after power-off for the gyro rotor to come to rest before you attempt to move the
gyrocompass.
CAUTION
During operation, the gyrocompass must remain level to within ±45°. If it experiences
tilt greater than 45° in any direction, it will ‘topple’. Safety routines in the gyro software
will then power-off the gyro rotor and show alarm conditions on the RCU. To restore
normal operation, establish a level operating attitude and then power-on the gyrocom-
pass normally.
Never apply a tilt of more than 45° with the gyro rotor spinning or during the gyrocom-
pass initialisation procedure. Note that the gyro rotor continues to spin for approxi-
mately ten minutes after you power-off the System.
CAUTION
If you install the gyrocompass in an enclosed space, make certain there is sufficient
ventilation and circulation of free air to allow effective cooling.
CAUTION
Do not make any connections to the gyrocompass with power on the supply cable.
CAUTION
You will void the warranty if you make any modifications to this equipment without
prior permission from SG Brown.
DO NOT modify this equipment in any way without obtaining permission from SG
Brown.
CONTENTS
1 INTRODUCTION 1–1
1.1 System Description 1–3
1.1.1 Gyrocompass 1–3
1.1.2 Remote Control Unit 1–4
1.1.3 Auxiliary Inputs 1–5
1.1.4 Heading Outputs 1–5
1.2 Principle of Operation 1–5
2 INSTALLATION 2–1
2.1 Unpacking and Inspection 2–2
2.2 Physical and Electrical Installation 2–3
2.2.1 Selecting a location 2–3
2.2.2 Gyrocompass installation 2–4
2.2.3 External Remote Control Unit 2–10
2.2.4 Set the Gyrocompass DIP Switches 2–11
2.3 Alignment 2–15
2.4 Final Gyrocompass Installation Tests 2–15
2.5 Installation Drawings 2–16
5 MAINTENANCE 5–1
5.1 Built-in Test Equipment 5–2
5.1.1 Azimuth Drift Adjustment 5–3
5.1.2 Azimuth Bias Adjustment 5–3
5.2 Test Connector 5–4
TABLE OF AMENDMENTS
1.0 1.0A 12 Dec 2000 Corrected identification of Azimuth Bias potentiometer and
other details. Include DIP switch default settings.
2.0 2.1 Sept 2002 Completion of enhancement features including compliance with
IEC 61162
1 INTRODUCTION
The Meridian Surveyor is a master heading reference instrument that applies the characteris-
tics of a dynamically tuned gyroscope and the effects of gravity and earth rotation to provide a
true north reference.
The Meridian Surveyor specification makes the System ideal for installation and operation on
board vessels of almost any size and in a wide range of applications.
This Manual is an important part of the Meridian Surveyor. It describes the System and con-
tains full installation and operating instructions. You should retain the Manual with the System
for use by personnel who will install and operate it.
Installation and operation of the Meridian Surveyor are not complex tasks. However, you
should spend time to familiarise yourself with the contents of this Manual before you start to
install or use the System. Time spent in identifying the task sequence now will ensure your
System is operational in the minimum of time.
WARNINGS
Where appropriate, this Manual includes important safety information highlighted as
WARNING and CAUTION instructions. You must obey these instructions:
WARNING instructions alert you to a potential risk of death or injury to users of the
System.
CAUTION instructions alert you to the potential risk of damage to the System.
For your convenience, the Table of Contents section includes copies of all the
WARNING and CAUTION instructions included in this Manual.
Throughout this Manual all measurements conform to the SI standard of units unless other-
wise indicated.
For your convenience, this Manual includes several sections, each of which describes specific
features of the Meridian Surveyor:
You should read sections 1 and 2 before you attempt to install the System:
Section 1 contains introductory notes and describes those items supplied as standard.
Section 2 describes how to select a suitable location for the gyrocompass. This section
includes full instructions to install the System and connect it to external equipment.
You should read sections 3 and 4 before you use the System:
Section 3 describes how to operate the Meridian Surveyor.
Section 4 includes the System specifications and descriptions of the data formats.
CAUTION
You will void the warranty if you make any modifications to this equipment without
prior permission from SG Brown.
DO NOT modify this equipment in any way without obtaining permission from SG
Brown.
Figure 1–1 shows the combined gyrocompass housing with the RCU included as an integral
unit.
The Meridian Surveyor applies dynamic tuning to settle automatically to the meridian. Due to
the physical principles of a north-seeking gyrocompass, achievable accuracy depends on the
operating latitude and the vessel dynamics. To optimise its performance, the Meridian Sur-
veyor uses information supplied by external equipment, for example a GPS receiver and a
speed log, to apply latitude and speed corrections.
1.1.1 Gyrocompass
Figure 1–1: Gyrocompass housing with
integral RCU
The care that you take when you align the gyrocompass housing with the surveyed fore-aft
axis of the vessel will have a direct impact on the accuracy of heading measurements delivered
by the System. Since the Meridian Surveyor is an ideal source of heading information for use
by other systems on board, such as radars and satellite communication antennas, the accuracy
of its heading measurements will have a wide impact throughout the vessel. You should there-
fore take care when you install and align the gyrocompass. Refer to Section 2 for full instruc-
tions to install, connect and align the Meridian Surveyor.
The only component available for user servicing is a 3A line fuse inside the gyrocompass
housing. In case of failure, refer to Section 5 for instructions to renew this fuse and check the
PSU board supplies.
The Remote Control Unit (RCU) provides all the functions and indicators necessary to control
and operate the Meridian Surveyor.
❐ Latitude Source
❐ Speed in Knots. 00 to 90
❐ Speed Source
Ideally, the Meridian Surveyor should accept latitude and speed information from external
sources such as a GPS receiver or a speed log. However, you may supply this information
manually if external sources are not available. The advantage of using GPS or a speed log to
provide correction signals is that they allow automatic corrections to be applied without oper-
ator intervention.
Section 2 includes instructions to connect and configure the external sources of latitude and
speed information.
❐ Autopilot
❐ Radars
❐ GPS
❐ Satellite television
To support this wide range of equipment types, the Meridian Surveyor can supply heading
information simultaneously through multiple channels using any of the common transmission
formats.
Refer to Section 3 for a description of the available output channels and their data formats.
2 INSTALLATION
To obtain the best performance from the Meridian Surveyor you must take care when you
install and connect it. This section includes all the information and instructions you will need
to complete these tasks.
You should read this section carefully and understand the important instructions that it con-
tains before you begin to install or connect the equipment.
CAUTION
The Meridian Surveyor includes precision components and bearings. To avoid causing
damage to any part of the System, handle all items with care.
Retain the original transit cases so that you can use them to transport the system when
necessary. You will void the warranty if you use improper packing during transporta-
tion.
CAUTION
Severe damage to the Meridian Surveyor can occur if you move the gyrocompass while
the rotor is still spinning without the servo system in operation.
Note that the gyro rotor continues to spin for approximately five minutes after you
power-off the system.
To avoid potential damage to the Meridian Surveyor, always allow a period of five min-
utes after power-off for the gyro rotor to come to rest before you attempt to move the
gyrocompass.
The Meridian Surveyor undergoes a full series of electrical and mechanical tests during manu-
facture and before dispatch. The packing case has a special design to protect the contents
against shock during transit so that the equipment should arrive without damage or defect.
As soon as possible after you have received the system, check all items against the shipping
documents. Inspect all sub-assemblies carefully to check for any damage that may have
occurred during transportation. If you see any damage file a claim with the carrier and imme-
diately notify SG Brown.
To avoid loss or damage to any components of the system, store all sub-assemblies safely in
the transit case until you need to install them. Obey the storage temperature limits listed in
Section 4.
Notify SG Brown immediately if there are any components missing from the shipment.
The title page of this Manual lists the contact details for SG Brown.
CAUTION
During operation, the gyrocompass must remain level to within ±45°. If it experiences
tilt greater than 45° in any direction, it will ‘topple’. Safety routines in the gyro software
will then power-off the gyro rotor and show alarm conditions on the RCU. To restore
normal operation, establish a level operating attitude and then power-on the gyrocom-
pass normally.
Never apply a tilt of more than 45° with the gyro rotor spinning or during the gyrocom-
pass initialisation procedure. Note that the gyro rotor continues to spin for approxi-
mately five minutes after you power-off the System.
❐ The gyrocompass weighs 15.5kg. Choose a mounting location that is level, flat and suffi-
ciently strong to support the unit without flexing or experiencing extreme vibration. The
mounting location can be open, as on a chart table, or enclosed within a cabinet.
CAUTION
If you install the gyrocompass in an enclosed space, make certain there is sufficient
ventilation and circulation of free air to allow effective cooling.
❐ Do not install or operate the Meridian Surveyor where the ambient temperature could fall
below 0°C or rise above +45°C, or where rapid changes of temperature can occur.
❐ Do not install the Meridian Surveyor close to strong mechanical or electrical noise
sources, or in a location susceptible to vibration or shock.
❐ Allow a minimum distance of 0.8m between the gyrocompass housing and any standard
magnetic compasses.
❐ Choose a location that allows convenient access to install, connect and service the Merid-
ian Surveyor. Refer to Figure 2–4 for clearance dimensions.
To install the Meridian Surveyor you will need the following tools:
Serial data heading output 1/0.85mm (0.6mm2) twisted pair, butyl or EP rubber insulated,
Serial data speed input CSP sheathed, wire braided and CSP oversheathed.
Serial data latitude input
There should be no need to remove the gyrocompass cover during installation. The Connector
Panel allows you to make all necessary power and signal connections to the Meridian Sur-
veyor. There is a removable panel on the top of the gyrocompass that allows access to the
internal DIP switches and a 60-way test connector.
1. During installation you must align the Meridian Surveyor so that its fore-aft axis is parallel
with the fore-aft datum on the vessel. It is not necessary for the gyrocompass to be on the
vessel centre line. There are alignment marks on the base of the Meridian Surveyor to help
you achieve the correct alignment.
2. Three elongated securing holes machined into the gyrocompass base allow you to make
fine adjustments to alignment after installation. With the gyrocompass positioned accu-
rately, mark the supporting surface with the centre positions for the three securing holes.
Refer to Figures 2–3 and 2–4 for dimensions.
3. Remove the gyrocompass and drill three 8.5mm diameter holes, using the marks you have
just made on the supporting surface as hole centres. Deburr the holes and remove any
swarf.
4. Reposition the gyrocompass and align it to the fore-aft datum. Use three M8 bolts with
washers and nuts to secure the gyrocompass in position.
5. Connect a 24V electrical supply (acceptable range 18V to 36V DC) to the Meridian Sur-
veyor at J1, the three-pin power inlet on the Connector Panel. Figure 2–1 shows the Con-
nector Panel.
CAUTION
Do not make any connections to the gyrocompass with power on the supply cable.
6. Connect the ship’s safety ground to the earthing stud adjacent to the electrical supply inlet
J1.
Make all necessary signal connections to the Meridian Surveyor at the Connector Panel. To
maintain EMC compliance you should terminate all wire braiding on the cables at the D-type
back shells.
Pin Description
1 Protective ground
2 +24V DC
3 0V
J4 Serial data (Channel 1) outputs – See Table 2–6 25-pin D-type socket
J5 Serial data (Channel 2) outputs – See Table 2–7 25-pin D-type socket
J6 Serial data (Channel 2) outputs – See Table 2–8 25-pin D-type socket
J9 Status and alarm outputs – See Table 2–11 15-pin D-type plug
J10 Serial data (Channel 2) outputs – See Table 2–12 25-pin D-type socket
J11 Serial data (Channel 2) outputs – See Table 2–13 25-pin D-type socket
Pin Description
1 Protective ground
2 0V Synchro/Resolver
3 26V Synchro R1
4 S3 Synchro Resolver
5 S2 Synchro Resolver
6 S1 Synchro
8 0V
12 L3
13 L2
14 L1
15 5V
Pin Description
1 Protective ground
2 Rate of turn
3 ROT 0V
7 RCU ON/OFF
Pin Description
1 Protective ground
3 RS232 Signal
7 RS232 Return
11 20mA Signal
12 20mA Return
18 RS422 (B)
19 RS422 (A)
Pin Description
1 Protective ground
3 RS232 Signal
7 RS232 Return
11 20mA Signal
12 20mA Return
18 RS422 (B)
19 RS422 (A)
Pin Description
1 Protective ground
3 RS232 Signal
7 RS232 Return
11 20mA Signal
12 20mA Return
18 RS422 (B)
19 RS422 (A)
Pin Description
1 Protective ground
Pin Description
1 LOG (TTL) 0V
4 Protective ground
8 LOG OK 0V
9 LOG OK Signal
Pin Description
3 Gyro Ready relay (open when not ready, closes when ready)
5 Gyro Ready relay (closed when not ready, opens when ready)
7 Fail relay CC
11 DG Return
12 DG Signal
Pin Description
1 Protective ground
3 RS232 Signal
7 RS232 Return
11 20mA Signal
12 20mA Return
18 RS422 (B)
19 RS422 (A)
Pin Description
1 Protective ground
3 RS232 Signal
7 RS232 Return
11 20mA Signal
12 20mA Return
18 RS422 (B)
19 RS422 (A)
There may be applications where you prefer to install the RCU at some distance from the
gyrocompass unit. A mounting kit, part number 929190, is available to use in these circum-
stances. The kit includes the following items:
❐ RCU housing
❐ Mounting bracket
There is no need to remove the gyrocompass cover to install the RCU externally:
1. Release and remove the four M3 screws at the corners of the RCU that secure it to the
gyrocompass housing.
2. Lift the RCU away from the gyrocompass housing as far as its cable will allow.
3. Reach inside the gyrocompass housing and disconnect the RCU cable at TB1 on the Dis-
tribution Board.
4. Lift the RCU away from the gyrocompass and install it at the remote location.
The cable run between the RCU and the remote location must not exceed 100 metres.
5. Use the bracket with the mounting kit to fix the RCU to a desk or to a bulkhead. You may
also flush mount the RCU in a panel. Choose a suitable location to mount the RCU:
❐ Avoid installing the RCU where it might experience severe shock or vibration.
❐ Choose a location for the RCU that allows a clear view of the display in all conditions.
6. Use the two star knobs supplied to fit the RCU into the mounting bracket. Tilt the unit to a
convenient viewing and operating angle and then lock it in place by tightening both star
knobs.
7. Supply and fit a cable to connect the RCU to J3 pins 4 to 9 on the Connector Panel (refer to
Table 2–5 for pin details of this port). The cable must have three screened twisted pairs and
should not exceed 100 metres in length.
8. Fit the blanking plate to fill the gap left in the cover by the RCU.
2. Refer to the DIP switches carefully for the specific requirements of your installation. Do
not adjust the settings of other preset controls inside the gyrocompass.
Tilt bias
potentiometer
DIP
switches
1 and 2 2
1
OFF
6 5 4 3 2 1
Data Format Baud Rate Update Rate C-Sum Decimal Places ROT
1= ON 0 = OFF
(as marked on switch)
6 5 4 3 2 1
Data Format Baud Rate Update Rate C-Sum Decimal Places ROT
1= ON 0 = OFF
(as marked on switch)
6 5 4 3 2 1
Data Format Baud Rate Update Rate C-Sum Decimal Places ROT
1= ON 0 = OFF
(as marked on switch)
Table 2–15: SW1 DIP switch settings – Pole 7 (Analogue ROT Scaling)
Factory default settings appear in bold and are marked with an asterisk in this table.
Table 2–17: SW2 DIP switch settings – Poles 7 and 8 (Speed log input type)
Factory default settings appear in bold and are marked with an asterisk in this table
7 8
1 1 100 pulses/nm
0 1 200 pulses/nm
1 0 400 pulses/nm
2.3 ALIGNMENT
It is important to align the gyrocompass to the vessel accurately. Any misalignment between
the housing and the vessel will appear directly as a fixed error in heading measurements.
Because measurements from the Meridian Surveyor are available for use by diverse systems
around the vessel, any misalignment between the gyrocompass and the fore-aft datum might
have a significant impact in many other areas of application.
There are several methods you may use to align the gyrocompass to the vessel fore-aft datum:
❐ Align the gyrocompass to the fore-aft datum using a known reference line, such as a sur-
veyed bulkhead or frame member. The marks on the gyrocompass base plate are precision
indicators of the gyrocompass alignment orientation.
❐ Use the services of a marine surveyor to align the gyrocompass precisely with the fore-aft
datum.
1. Power-on the gyrocompass by following the instructions in sub-section 3.2. Wait for three
hours before you perform the following tests.
2. Check the vessel heading against a known reference mark on a chart. Typically this could
be the alongside position of the fitting-out dock. Alternatively, accurately survey an object
at least five kilometres ahead of the vessel using the fore-aft line as a datum.
3. Check the displayed gyrocompass heading at intervals to make certain it is consistent with
the surveyed vessel heading.
4. If there is an error larger than ±0.5°, re-check the vessel fore-aft datum to confirm that it is
correct.
5. Check that all the repeaters are accurately aligned with the gyrocompass heading and
make certain they maintain their alignment at all times while the gyrocompass is powered-
on.
3 OPERATING INSTRUCTIONS
This section explains how to power-on and configure the Meridian Surveyor after installation.
Refer to Section 4 for an explanation of the data formats relevant to the System.
The RCU front panel includes all the operator controls for the Meridian Surveyor:
Table 3–1: RCU Control and Indicator functions
Control Function
Latitude selection button. Press to display current Latitude source and correction value.
Use in conjunction with the Selection Up and Selection Down buttons to pre-set Latitude source
and correction value.
Speed Selection. Press to display current Speed source and correction value. Use in conjunction
with the Selection Up and Down buttons to pre-set Speed source and correction value.
Power lamp (red) Indicates that the Meridian Surveyor is switched on when 24V DC nominal power is
connected.
Ready lamp Indicates that the Meridian Surveyor has settled and a True Heading is available.
(green)
Format Function
Heading
0123.4 Heading Only
0123.4 + DG Heading with DG mode set at the RCU
0123.4 + DG_L Heading with DG mode set by latitude greater than 80 deg
0123.4 + DG_X Heading with DG mode set by Distribution PCB connection
1. Check that there is a nominal 24V DC electrical supply available to the gyrocompass. The
acceptable supply range is 18V to 36V DC.
To ensure continuous operation, the power supply for this unit should have a 200W power
rating.
2. To start the Meridian Surveyor press the power switch on the RCU.
3. Check that the red ‘Power’ lamp on the RCU illuminates. This lamp indicates only that the
Meridian Surveyor is receiving power and does NOT indicate a settled condition. Check
that the instrument illumination is at maximum during the initialisation sequence. Even at
its maximum setting, the instrument illumination may be difficult to see in bright ambient
lighting.
4. The RCU will activate the audible alarm for about 1 second. The display will indicate
T.E.S.T. and the ‘Ready’ lamp will be lit for about 10 seconds while the system performs a
series of self-tests. After successful completion of the self-tests, the display will show the
current Gyrocompass dial heading and the ‘Ready’ lamp will go off until the Gyrocompass
has settled.
5. Set the source of latitude information by following the instructions in sub-section 3.3.1.
6. Set the source of speed information by following the instructions in sub-section 3.3.2.
7. Use the increase and decrease selection buttons to adjust the RCU illumination level to a
comfortable setting.
8. Wait for the gyrocompass to settle. This will occur automatically and will take upwards of
24 minutes depending on initial heading offset and sea conditions. The Meridian Surveyor
signifies its settled condition by illuminating the green ‘Ready’ lamp.
9. If necessary, you can view the software versions of the main and the control panel proces-
sors by pressing both the Up and the Down selection buttons simultaneously. The display
will toggle between indications of the main processor software version (with prefix ‘M’)
and the control panel software (with prefix ‘R’). The display will continue to toggle for
several seconds after you release the buttons and will then return to the heading indication.
Ideally, the Meridian Surveyor should accept latitude and speed information from external
sources such as a GPS receiver or a speed log, which allow the System to apply corrections
automatically.
2. Use the up and down selection buttons to set the local latitude manually. The display
will show the latitude in one-degree increments in the range 80°N to 80°S, for example
L70N
❐ To select automatic latitude compensation from a GPS receiver, use the up or down selec-
tion buttons to scroll beyond 80°N or 80°S until the display shows LGPS.
If there is no valid input available from a GPS receiver, the display will indicate a LGPS
alarm after 30 seconds.
3. Release both buttons to set the latitude to the displayed value or to set the gyrocompass to
use GPS as the source of automatic latitude correction. The display will indicate the lati-
tude setting and latitude source for several seconds and will then return to the normal
heading display.
If you input the operating latitude manually, remember to change the setting when nec-
essary. Note that, in medium latitudes, a 10° error in setting the operating latitude will
result in a compass error of approximately 0.3°.
2. Use the up and down selection buttons to set the speed manually in the range zero to
90 knots.
❐ To select automatic speed compensation from a GPS receiver or a speed log, use the up
selection button to scroll beyond 90 knots until the display shows SGPS or SLOG.
If there is no valid input available from a speed log or GPS receiver, the display will
indicate a SLOG or SGPS alarm after 30 seconds.
3. Release both buttons to set the speed to the displayed value or to set the gyrocompass to
use GPS or a speed log as the source of automatic speed correction. The display will indi-
cate the speed setting and speed source for several seconds and will then return to the nor-
mal heading display.
If you input the vessel speed manually, remember to set the average vessel speed and
to change the setting when necessary. Return the setting to zero on completion of the
voyage. For a vessel steaming in a northerly direction, a 5-knot error in speed setting
will generate an error of approximately 0.5°.
Note: DG mode will be automatically enabled for latitudes set greater than 80 deg.
Note: that the gyrocompass will not north seek while operating in the DG mode.
❐ The display shows S.GPS + FAIL for the loss of speed correction information.
❐ The display shows L.GPS + FAIL for the loss of latitude correction information.
1. The Gyrocompass will use the last valid speed and latitude values.
2. The RCU will continue to show the alarm message until a valid input signal is re-estab-
lished or a different input source is selected.
3. If the valid input signal has not been established within a period of 30 minutes the audible
alarm will be enabled.
❐ The display flashes SLOG + FAIL for the loss of selected serial data source information.
❐ The display flashes pLOG + FAIL for the loss of pulsed selected source information.
2. The RCU will continue to show the alarm message until a valid input signal is restablished
or a different input source is selected.
If a valid input signal has not been established within a period of 30 minutes the audible alarm
will be enabled.
❐ Warning conditions
❐ Failure conditions
A failure condition warning will result in the Gyroscope power supply being disabled.
Refer to the maintenance section before activating the Power Supply.
Warning Conditions
If the gyrocompass detects a warning condition, it will use two methods to alert you:
<Message>
Definition of warning code
RCU Screen
The RCU will continue to show the alarm message until the fault condition has been removed.
If the fault condition has not been removed within a period of 30 minutes the audible alarm
will be enabled. Refer to sub-section 5.1 which outlines some simple checks that you can
make to rectify these fault conditions. If necessary contact SG Brown or an approved local
service agent for assistance.
Failure Conditions
If the Meridian Surveyor detects a failure condition, it will use six methods to alert you:
<Message>
Definition of failure code
RCU Screen
These failures are considered to render, or be due to an unrecoverable fault condition, possibly
due to a component failure.
The Gyrocompass will be disabled until it has been reset by the operator. Refer to the mainte-
nance section before activating the Power Switch.
❐ If you intend to leave the system powered-off for an extended period, you should arrange
to run the gyrocompass for a period of at least thirty minutes at intervals of six months or
less.
❐ The Meridian Surveyor has full protection against interruption of its electrical supply. It
will re-start and align itself automatically on restoration of electrical power. The heading
indication will be accurate when the RCU ‘Ready’ lamp is on.
❐ Monitor the Meridian Surveyor performance regularly. When functioning correctly, and
provided the correct Speed and Latitude compensations are applied, the heading error in
latitudes up to 60° and for speeds up to 25 knots will normally be less than 0.75° regard-
less of the vessel manoeuvres.
❐ Never move the gyrocompass with the gyro rotor spinning unless you leave the servos
operational. Note that the gyro rotor continues to spin for a period of approximately five
minutes after you power-off the gyrocompass.
❐ Most users find that the facilities for the automatic application of speed and latitude cor-
rections, via signal inputs from GPS and/or ships log, are a convenient method of applying
corrections.
❐ However, users should be aware that if the input signal contains the wrong information,
then the wrong corrections will be applied. For instance, it has been noted that some GPS
installations, under certain circumstances, will output a “valid” signal with the speed and
latitude fields set to all zeros indicating that the vessel is stationary on the equator.
❐ An incorrect input of speed and/or latitude will cause the gyrocompass to indicate an
incorrect heading and in the case of extreme errors could cause, in certain circumstances,
the gyrocompass to come out of the “Ready mode”.
❐ At latitudes greater than 80o it is recommended that the gyrocompass be operated in the
directional gyro mode.
❐ If correction for the effect of latitude on the vertical component of Earth’s rotation is made
manually via the RCU, then correction is available to 80o. Thereafter, the directional gyro
mode should be manually selected. Errors in the indicated heading will increase with time
and increasing latitude above 80o to a maximum of approximately 0.25o /hour. To re-align
the gyrocompass, operating latitude must be reduced below 80o and the gyrocompass
mode of operation re-selected.
❐ If correction for the effect of latitude on the vertical component of Earth’s rotation is made
automatically via a serial data input, then correction is available above 80o and directional
gyro mode is automatically selected above this latitude. The compass will still be subject
to small inherent drifts while operating in this mode. Reversion to the gyrocompass mode
will be made automatically when the serial data latitude input falls below 80o.
❐ The precession in tilt that arises from the damping component of gravity control is called
ballistic tilt. The combined effects of ballistic tilt and ballistic deflection cause the gyro-
compass to tilt downwards. Because of the factors that guide the behaviour of a damped
gyroscope, the gyro spin axis will return to the settled position by the normal anticlock-
wise spiral after the acceleration has ceased.
The use of accelerometer damping by the Meridian Surveyor is of prime importance in the
reduction of a particularly serious form of ballistic error called inter cardinal rolling error.
This type of error occurs most noticeably when the vessel steams on an inter cardinal
heading while rolling simultaneously through a significant angle.
If the gyrocompass is installed at some distance above the vessel centre of roll rotation, as
is usually the case on commercial vessels, the resulting lateral acceleration components
along the east-west and north-south axes of the gyrocompass combine to build an error in
the northerly settle point.
If the effect persists for long enough, this error might become as large as several degrees.
However, by damping the accelerometer using a time constant several times larger than the
vessel rolling period, inter cardinal rolling errors are significantly reduced.
❐ Another form of ballistic error arises from north-south accelerations generated by vessel
manoeuvres. Such accelerations can arise from changes in speed and/or course. By limit-
ing the angular output of the accelerometer, the Meridian Surveyor reduces the error
potential typically to less than one degree.
❐ The Meridian Surveyor complies with all requirements of IMO Resolution A.821(19), Per-
formance Standards for Gyrocompasses for High-Speed Craft.
4 TECHNICAL DATA
4.1 SPECIFICATIONS
4.1.1 Power Requirements
Voltage 24V DC (acceptable range 18V to 36V DC)
CAUTION
The Meridian Surveyor contains a non-isolated PSU. Therefore, you should supply it
with power from an SELV source as defined in IEC/EN 60950. The power supply source
should be switched and protected by a suitable circuit breaker.
To comply with the requirements of IMO Resolution A.821(19), Performance Standards for
Gyrocompasses for High Speed Craft, power to the gyrocompass should be delivered by an
uninterruptable power supply, for example the SGBrown UPS part number 929128.
Time to settle within 0.7° Less than 45 minutes with a ±30° initial heading
offset
4.1.3 Compensation
Latitude compensation range 80°N to 80°S
4.1.4 Environment
Operating environment EN 6095:1997 designated category ‘weather pro-
tected’
Serial data formats IEC 61162, Robertson, SGB ASCII at 1Hz, 10Hz
or 50Hz.
Weight 15.5kg
RCU size (when mounted externally) 96mm (H) × 192mm (W) × 108mm (D)0
4.1.10 Standards
The Meridian Surveyor is designed to meet the requirements of the following:
❐ IEC 61162-1:2000(E) Maritime navigation and radio communication equipment and sys-
tems - Digital interfaces. Note that IEC 61162-1:2000(E) is closely aligned with NMEA
0183 version 2.30.
❐ Datum reference using IEC 61162 DTM sentence. The latitude offset is not used to correct
the gyroscope latitude information, however the DTM sentence is re-transmitted.
❐ Speed information using serial IEC 61162 VBW, RMC, VTG or VHW sentences. The sen-
tences can contain speed information using knots and/or km/h. The Meridian Surveyor
will use the speed in knots if available, in preference to speed in km/h. If more than one of
these formats is available, the Meridian Surveyor makes its selection in the stated prefer-
ence order. Refer to Figures 4-8, 4-4 and 4-10 respectively for a description of these for-
mats.
❐ If an RMC sentence is used it must contain both speed and latitude information.
The following sub-sections describe each of the formats supported by the Meridian Surveyor.
All data is interpreted as ASCII characters that form IEC 61162 sentences split into individual
fields. All fields, including null fields, are separated by commas.
The IEC 61162 format requires a checksum – if included, the checksum occurs as an addi-
tional field immediately before the carriage return line-feed characters. It consists of an aster-
isk (*) followed by a checksum derived by exclusive OR-ing the eight data bits of each valid
character preceding the asterisk, but excluding the $ symbol, in the sentence. The absolute
value of the checksum is transmitted in ASCII characters representing the value in HEX. For
circumstances where the Meridian Surveyor retransmits serial data using the same IEC 61162
sentence format supplied by an external source, it will recalculate any checksum and insert the
new value into the output sentence.
IEC 61162 sentences are usually transmitted once per second, however you can optionally set
a DIP switch to select transmission rates of 10 or 50 per second. The outputs are grouped into
two channels that can be set independently to either 1Hz, 10Hz or 50Hz updates.
4.2.2 Inputs
4.2.2.1 IEC 61162 input signals
The Meridian Surveyor will accept sentences in both IEC 61162-1:2000(E) and NMEA ver-
sion 2.1 data formats.
In the following descriptions of input sentences, the Meridian Surveyor uses the data fields
marked ‘XXX’ in the IEC 61162 sentence. The system does not use the fields marked ‘???’
and their descriptions are included here for completeness only. The gyrocompass will recog-
nise the arriving sentence format and will extract the required data from it automatically.
Mode Indicator
HDOP
Total number of satellites in use, 0-99
Checksum field
Longtitude
Geoidal seperation, m
North/South
UTC of position
Talker identifier (any characters)
Mnemonic for GNSS fix data
Start character
Longitude (dddmm.mm)
DPN 060079
Local datum
Local datum subdivision code Latitude (ddmm.mm)
UTC of position (hhmmss.ss)
Latitude offset
Mnemonic for North or South
North/South
4 – Technical Data
Issue 2.1
GPS quality indicator Status
$??DTM,???,?,?.?,?,?.?,?,?.?,???*hh[CRLF]
Number of satellites in use (00 - 12) Mode Indicator
© SG Brown
Mnemonic for metres
Geoidal separation
Mnemonic for metres
Age of differential GPS data
Chapter 4 Page 7 of 18
Start character Start character
Talker identifier (any characters) Talker identifier (any characters)
Mnemonic for ground course and speed Mnemonic for Dual ground/water speed
Chapter 4 Page 8 of 18
Mnemonic for Magnetic heading
Longitudinal ground speed, knots
Speed in knots
Transverse ground speed, knots
Mnemonic for knots
Status: ground speed, A= valid, V= not valid
Speed in km/h
Stern transverse water speed, knots
Mnemonic for km/h
© SG Brown
Checksum field
Issue 2.1
DPN 060079
Meridian Surveyor
Start character Start character Start character
Talker identifier (any characters) Talker identifier (any characters) Talker identifier (any characters)
Mnemonic for ground course and speed Mnemonic for Dual ground/water speed Mnemonic for Time and Date
DPN 060079
Course in degrees and tenths Longitudinal water speed, knots
Mnemonic for True heading Transverse water speed, knots UTC (hhmmss.ss)
Course in degrees and tenths Status: water speed, A= valid, V= not valid
Mnemonic for Magnetic heading Day of month (01 to 31)
Longitudinal ground speed, knots
4 – Technical Data
Issue 2.1
$??VTG,?.?,?,?.?,?,X.X,X,XX.X,X,X[CRLF]
$??ZDA,XXXXXX.XX,XX,XX,XXXX,??,??[CRLF]
Checksum field
Log Interface (see Table 2–3 or connection details)
© SG Brown
The Meridian Surveyor can accept speed inputs at the Log interface in IEC 61162 format
Chapter 4 Page 9 of 18
Meridian Surveyor
4.2.3 Outputs
4.2.3.1 IEC 61162 output signals
The Meridian Surveyor can output data through RS232 and RS422 transmit-only serial lines
using IEC 61162-1:2000(E) format. The output is presented on two channels. The output of
each channel can be set independently, using DIP switches, to contain either:
2. All data - all information described below, transmitted in the order stated.
❐ Heading information is transmitted using an HDT format sentence. The resolution of the
heading information can be set to one or two decimal places at the DIP switches. Refer to
Figure 4-15 for a description of this output format.
❐ Rate of turn information is transmitted using a ROT format sentence. Refer to Figure 4-16
for a description of this output format.
❐ Speed information is transmitted using a VTG format sentence if the gyrocompass is con-
figured for manual or a pulsed speed log input. The VTG sentence also has provision for
Heading and this is inserted at a resolution as set by the DIP switches. Refer to Figure 4-12
for a description of this output format. If the gyrocompass is configured for a GPS speed
input and the speed information arrives at the gyrocompass in either VBW, RMC, VTG or
VHW format, then the gyrocompass will retransmit the received format modifying the sen-
tence to include the HE talker identifier. Refer to Figures 4-17, 4-20 and 4-18 for a descrip-
tion of these output formats.
❐ Datum reference is retransmitted if the DTM sentence is received on the GPS input. The
gyrocompass will re-transmit the received sentence modifying it to include the HE talker
identifier. Refer to Figure 4-23 for a description of this output format.
❐ Date and time information is transmitted using a ZDA format sentence. The gyrocompass
will transmit the ZDA sentence including the HE talker identifier. If this information is
received from a GPS source, all fields will be retransmitted. If there is no valid date and
time from an external source, the gyrocompass will transmit the ZDA sentence with empty
data fields. Refer to Figure 4-24 for a description of this output format.
If “All Data” output format is selected at the DIP switches, the transmission update rate
for that channel will be at 1Hz regardless of the setting of the channel update rate.
In the following descriptions of output sentences, the gyrocompass sets the contents of fields
marked XXX and leaves unchanged the fields marked ???
Chapter 4 Page 12 of 18
Longitudinal ground speed, knots
© SG Brown
Checksum field
$HEVBW,?.?,?.?,?,?.?,?.?,?,?.?,?,?.?,?*hh[CRLF]
Issue 2.1
DPN 060079
Meridian Surveyor
4 – Technical Data
North/South
East/West
Mode Indicator
HDOP
Total number of satellites in use, 0-99
Checksum field
UTC of position
Longtitude
Geoidal seperation, m
Checksum field
Local datum
Local datum subdivision code
Altitude offset, m
Reference datum
North/South
Year
UTC (hhmmss.ss)
The checksum consists of an asterisk followed by the checksum calculated by exclusive OR-
ing the eight data bits of each valid character preceding the asterisk, but excluding the ‘$’ sym-
bol, in the sentence. The Meridian Surveyor transmits the absolute value of the checksum in
ASCII characters representing the value in HEX.
❐ Bits 5 and 4 identify the order of magnitude for the included heading information
The stepper output is a TTL compatible S-encoded signal with a 10mA sink capacity.
The ROT output is a bipolar analogue voltage in the range ±10V to represent rates of turn from
–60° to +60° per minute or –20° to +20° per second. Positive rates of turn are to starboard.
5 MAINTENANCE
WARNING
There is a danger of serious injury from voltages inside the Meridian Surveyor. Do not
remove the gyrocompass cover unless you have the necessary skills and experience
to perform maintenance work on a system of this nature. Always power-off the system
before you remove the cover for maintenance work.
Observe all local safety regulations as you work on the equipment. Reconnect the
safety grounding straps and refit all safety covers to the equipment before you power-
on the system.
CAUTION
Perform these simple maintenance instructions only if you have the skills and experi-
ence required, and only when necessary. Inappropriate tampering with the internal con-
trols and components of the gyrocompass can lead to damage or serious performance
degradation.
NEVER open the gyrocompass cover or make any adjustments inside the gyrocom-
pass unless you are entirely confident in your actions.
There is very little need for user maintenance on the Meridian Surveyor and you should never
need to remove the covers.
The following sub-sections explain some very basic procedures that you may attempt if you
suspect the system has developed a fault. If you are in any doubt, contact SG Brown for advice
and technical assistance before you begin any maintenance work on the system.
Perform the tests described in this section of the manual and have the results available when
you contact SG Brown for technical assistance.
If the built in test equipment detects a fault, use the following table to investigate the cause.
You can measure the voltages and signals on the pins of the 60-way test connector (refer to
Table 5–2 for details of the test connector).
Table 5–1: Test measurements
tpo +fail 10 (+ve) to 18 +5V DC ±0.2V DC (0V DC ±0.2V DC at start (1-min)) Control Board digital
High tilt pick-off 16 (+ve) to 18 +5V DC ±0.2V DC (0V DC ±0.2V DC at start (2-min)) Control Board digital
signal 37 (+ve) to 51 0V DC ±1V DC Control Board analogue
apo+fail 10 (+ve) to 18 +5V DC ±0.2V DC (0V DC ±0.2V DC at start (1-min)) Control Board digital
High azimuth 16 (+ve) to 18 +5V DC ±0.2V DC (0V DC ±0.2V DC at start (2-min)) Control Board digital
pick-off signal 38 (+ve) to 51 0V DC ±1V DC Control Board analogue
1. Ensure that the gyrocompass is static and is operating in DG mode with the Speed input set
manually to zero and the Latitude set to local latitude. Use the DIP switches to set DG
mode – refer to Table 2-17. Refer to sub-sections 3.3.1 and 3.3.2 to set the latitude and
speed.
3. Wait for one hour and then note the heading (H2) shown on the RCU display.
4. Calculate the azimuth drift rate (H2 – H1) degrees per hour.
5. Use a digital meter set to measure DC volts and monitor the Tilt Bias between pins 30 and
51 of the 60-way test connector (with the positive test lead on pin 30).
6. Adjust the Tilt Bias potentiometer RV7 by 400mV × drift rate (°/hr). You must turn the
potentiometer anticlockwise to compensate for azimuth drift towards higher readings. Fig-
ure 2–2 shows the location of the Tilt Bias potentiometer.
7. Repeat steps 1 and 2 above to ensure that the calculated drift rate is less than 0.2°/hr.
Take care when you adjust azimuth bias – make only small adjustments each time and
then allow the gyrocompass to settle for three hours before you make any further
adjustments. Note the original position of the azimuth bias control before you start so
that you can restore the starting condition if necessary.
1. Use a digital meter set to measure DC volts and monitor the Azimuth Bias between pins 29
and 51 of the 60-way test connector (with the positive test lead on pin 29).
2. Adjust the Azimuth Bias potentiometer RV9 to cause a change in the azimuth bias voltage
that will produce the necessary change in compass heading. Figure 2–2 shows the location
of the Azimuth Bias potentiometer.
3. Turn the Azimuth Bias potentiometer anticlockwise to cause the heading to change
towards a lower reading. A 60mV DC change in Azimuth Bias will produce a 1-degree
change in heading
17 VCC 5V DC supply
19 PICK_OFF_SUPPLY_1 Gyro pick off supply 2.5V RMS 19.2kHz sine wave
20 WHEEL_SUPPLY_1 Gyro wheel supply 0 phase 10V (18V) RMS 480Hz square wave
21 WHEEL_SUPPLY_2 Gyro wheel supply 90 phase 10V (18V) RMS 480Hz square wave
35 TILT_TORQUER_LO Tilt torquer signal 0.013V DC/mA (torquer scale factor 10°/hr/mA)
36 AZ_TORQUER_LO Azimuth torquer signal 0.006V DC/mA (torquer scale factor 10°/hr/mA)
45 PSU_LO PSU (+5V DC and ±15V DC) under voltage flag (+5V DC logic)
46 NOT USED
49 ROT Analogue rate of turn output (0.5V DC/deg/s (10V DC max) CW +ve; ACW –ve
1. Damper
2. Gyro spin motor
H
DPN 060079
3. Tilt torquer
4. Azimuth torquer
5. Accelerometer
6. Azimuth pickoff
7. Tilt pickoff
8. Thermistor
9. Tilt motor 1
10. Azimuth motor
2 3
5
5 – Maintenance
H
6
8 7
Figure 5–2: Gimbal Assembly Functional Diagram
N-S
9 Y
Issue 2.1
10
© SG Brown
Resolver
Azimuth Temperature Tilt Tilt Azimuth 400Hz Sin H Cos H Azimuth Torquer Accelerometer Tilt Torquer
Pickoff Sensor Signal Motor Pickoff Motor Control Signal Signal (Acc) Control Signal
Signal Drive Signal Signal Drive Signal
Chapter 5 Page 7 of 10
Meridian Surveyor
North seaking
Acc/Cos λ Align
TILT
Run TORQUER
COIL
Latitude correction
ω Sin λ +/-
Hemisphere
Easterly speed correction
V.Sin H.Tan λ +/-
R
Hemisphere
AMPLIFIER TILT
Tilt Pickoff (d.c.) +/- & PICKOFF
Align FILTER COILS
Run
DG SCALING
TILT
& M
MOTOR
SHAPING Servo Enable
COMPARATOR
SCALING
19.2 Khz Ref AZIMUTH
& M
SHAPING MOTOR
Servo Enable Servo Enable
Hemisphere (+/-)
AMPLIFIER AZIMUTH
Azimuth Pickoff (d.c.) +/- & PICKOFF
FILTER COILS
Align
Damping
Acc (High Gain) X10
AZIMUTH
DG TORQUER
COIL
Run
V.Cos H Northerly speed correction
R +24V
REG+
T+ T- +V Ref -V Ref
Wheel Boost
-24V AZIMUTH TEMP AZIMUTH BIAS
REG-
19.2Khz Ref
19.2Khz BANDPASS 2.5V 19.2Khz
FILTER Pickoff Supply
10V/18V
ω = earth rotation (15°/hr) ∅1
V = speed (knots x 6080 ft/hr) 480Hz ∅ 0
R = earth radius (20.9 x 106 ft)
λ = local latitude (deg) 3.6Mhz PLD 480Hz ∅ 180
H = gyro heading (deg) 10V/18V 480Hz
τ = time constant 480Hz ∅ 90 Gyro Spin Motor
Supply
Acc = accelerometer signal
480Hz ∅ 270
400Hz 10V/18V ∅2
MONO - BANDPASS 400Hz
AC OK 36V R4
STABLE FILTER Reference
26V R1 RESOLVER
400Hz Ref Phase
ROTOR
26V Synchro
0V R2 36V Resolver
400Hz Ref
8V.Sin H
Rate of Turn RoT +/- 10V RESOLVER
STATOR
8V.Cos H
Sin H +/- S1
400Hz Ref
S3 Heading Outputs
11.8V Synchro
Cos H +/- S4 8V Resolver
400Hz Ref
S2
RS422
DUART
Remote Control DRIVER
DATA BUS
SCN2681 EPROM
MAX487 27C512
AC OK
RX TX P4 CS
ADDR.
P2 CS
ANALOGUE DECODER Temperature
MUX & ADDR. BUS Azimuth Pickoff (d.c.)
P0
10 BIT
ADC Tilt Pickoff (d.c.)
RAM
HM62256 Acc (Low Gain)
PWMO
Azimuth Pickoff (d.c.)
80C552
Acc (Low Gain)
EPROM Sin H
28C16A
Temperature
X1 XTAL
P4 Cos H
400Hz Ref
AC OK CS
PSU Align
DG Mode SUPERVISORY Run
MAX8213 LATCH
LS373 DG
Servo Enable
DC PSU
Hemisphere (+/-)
Wheel Boost
CS CS
Acc (Low Gain)
RESOLVER CS
LATCH
TO DIGITAL
LS373 DAC Acc/Cos λ
CONVERTER
AD7528 ω Sin λ
Sin H
Cos H 10V Ref
400Hz Ref Cos H
CS
CS V.Cos H
DAC R
Course Recorder AD7528
RS232/ DUART
Spare RS422 I/F SCN2681 Sin H
CS
V.Sin H.Tan λ
DAC R
AD7528 Rate of Turn
10V Ref
RS422
EPROM ADDR.
Remote Control DRIVER CS
27C512 DECODER
MAX487
CS
RX TX RAM REMOTE CONTROL BOARD
P2
HM62256
ADDR. BUS
P0 CS
RESET RESET
WATCHDOG EPROM
DATA BUS
MAX813L 28C16A
PWMO
WD1 PFO CS
uCONTROLLER
80C32 DISPLAY
DISPLAY
X1 XTAL DRIVER
P4
CS
SYSTEM
LATCH READY FAIL
KEYBOARD LS373 SOUNDER
CS
LATCH
LS373
856000 Filter #1
929160 Filter #2
A OPERATING THEORY
A gyrocompass is a navigational instrument that provides a true north indication without refer-
ence to the earth’s magnetic field. For its operation, the gyrocompass depends upon the fol-
lowing:
❐ Gravity.
Figure A–1 shows a free-spinning gyroscope mounted in a balanced gimbal suspension. The
suspension allows unrestricted movement about the vertical and horizontal axes so that the
gyro rotor can adopt any orientation.
With the gyro rotor stationary, it is easy to turn the gimbal suspension about either axis and
allow it to remain there in a balanced condition.
However, when it is spinning, the gyro rotor exhibits a property called gyroscopic inertia. This
property causes the spin axis of the rotor to remain pointing in the same arbitrary direction in
space and to resist any influence that tries to redirect that axis.
For simplicity, this explanation assumes the gyro rotor continues to spin perpetually at a con-
stant speed. In a practical gyrocompass, the gyro rotor is the specially designed spindle of a
motor that rotates at a constant speed.
To an observer on the surface of the earth, the free spinning gyroscope would appear to ‘tum-
ble’ in its gimbal suspension once in every 24-hour period. This apparent deviation occurs
because, although the spin axis actually remains fixed in space, the earth rotates relative to it.
The apparent movement seen by the observer would depend on the location of the gyroscope
and the initial direction of the spin axis.
❐ With an initial spin axis alignment level and perpendicular to a meridian (so that it points
in the east-west direction), the spin axis would appear to tumble about its horizontal axis
with the eastern end of the spin axis rising. After 24 hours, the gyroscope would complete
a single revolution in its gimbal suspension so that the spin axis would again point in the
original direction relative to the observer.
❐ With an initial spin axis alignment somewhere between these two extremes, the gyroscope
would appear to tumble about its horizontal and its vertical axes to complete one single
revolution in 24 hours.
❐ With the initial spin axis level, the gyroscope would appear to turn clockwise (at the north
pole) or anticlockwise (at the south pole) about its vertical axis once in 24 hours.
To an observer at some intermediate latitude with the gyroscope oriented in some arbi-
trary initial direction:
❐ The gyroscope would tumble about the north-south direction at – Ω cos λ and about the
east-west direction at Ω sin λ , where Ω is the earth rotation rate (15° per hour) and λ is the
latitude of the gyroscope.
The ideal situation is for the gyroscope to align perfectly with the spin axis of the earth so that
it maintains a north-south orientation with no apparent tumbling during each 24-hour period.
To make the gyroscope north seeking, the gyrocompass uses gravity control and an effect
called precession.
Consider the example shown below where the gyroscope rotates about its spin axis in the
direction shown.
Precession
When an externally applied torque acts on the gyroscope suspension in the direction shown, a
point on the circumference of the rotor at 'O' will attempt to move in two directions simultane-
ously:
❐ It will accelerate in the direction OA under the influence of the applied torque.
The net result of these two movements actually starts to move the point on the circumference
of the rotor in the direction OC, which is the resultant of the two perpendicular influences.
Since every point on the circumference of the rotor experiences the same effect as it passes
through point O, it follows that the rotor will rotate about an axis that lies at right angles to the
axis of applied torque. This is the axis of precession. In this example, precession will act in the
direction shown.
Eventually, the spin axis of the gyroscope will turn sufficiently so that its spin axis coincides
with the axis of applied torque, at which point there will no further tendency for the gyroscope
to rotate about the precession axis.
Summary:
If a free spinning gyroscope comes under the influence of a torque whose axis is perpendicu-
lar to the spin of the gyro rotor, a precession results that tends to align the spin axis with the
axis of applied torque. The direction of this precession is such that, should alignment occur,
the gyroscope spin direction will be the same as the direction of applied torque.
Consider the example shown in Figure A–2(a), which shows a free spinning gyroscope aligned
so that its spin axis is level with the horizon. In this example, the spin axis of the gyroscope
aligns with the local meridian so that its north end points north. In the balanced condition
shown, the weight suspended from the gyroscope bearings has no effect on operation and the
gyroscope will maintain its alignment with the meridian.
It is more common for the initial alignment of the gyroscope to be at some angle away from
true north. Two conditions are therefore possible:
However, over time the north end of the spin axis would begin to tilt downwards. This is
because the earth rotates while the gyroscope maintains a fixed orientation in space. In this
off-balanced condition, shown in Figure A–2(b), the weight would try to return to its central
location and, in doing so, would apply an anticlockwise torque to the gyro suspension.
With the gyroscope spinning in the direction shown, precession arising from the anticlockwise
torque would move the north end of the rotor eastwards. Therefore, because this condition
arises from a westerly misalignment between the gyroscope and the meridian, the effect of the
bottom weight is to drive the gyro rotor towards closer alignment with the meridian.
However, over time the north end of the spin axis would begin to tilt upwards with rotation of
the earth. In this off-balanced condition, shown in A–2(c), the weight would apply a clockwise
torque to the gyro suspension.
Precession arising from the clockwise torque would move the north end of the rotor further
west and therefore into closer alignment with the meridian.
In practice, modern gyrocompasses, such as the Meridian Surveyor, exercise gravity control
by an indirect method. Tilt is detected by an electronic pendulum or accelerometer and the
resultant electrical signals are used to produce torques that have the same effect as a suspended
weight.
When operating at the equator, such a simple gravity control would be sufficient to maintain
alignment with the meridian with no further need for corrections.
However, as the operating latitude increases towards either of the poles, there is a greater ten-
dency for the gyroscope to experience azimuth drift with time.
The rate of change of azimuth due to the earth’s rotation is constant for a given latitude. There-
fore, the gyrocompass must apply a controlling correction torque, perpendicular to the spin
axis, to cancel the drift caused by the earth’s rotation. To generate this correction torque the
gyrocompass needs to know the operating latitude.
The application of latitude correction causes this elliptical path to be symmetrical about a
point projected from the north end of the gyro rotor when horizontal and aligned with the
meridian. For a given gyroscope, the ratio between the major and minor axes of this error
ellipse is constant. The size of the ellipse depends on the initial displacement of the gyro axis
away from the meridian and the horizontal plane.
By reducing the amplitude of ellipsoidal excursion in one plane, it follows that the amplitude
of excursion in the other plane reduces proportionately to settle the gyro horizontally and in
the meridian.
In the gravity controlled gyroscope, a tilt of the rotor spin axis produced a torque about the
horizontal axis to drive the spin axis towards alignment with the meridian. However, to pro-
duce a workable gyrocompass, there must be some form of damping.
One practical method for doing this is to include electrical feedback so that a tilt in the rotor
spin axis also produces a torque about the vertical axis. The sense of this torque would be to
cause a precession that would drive the spin axis towards the horizontal.
This would cause the vertical axis of the error ellipse to reduce progressively towards zero,
reducing the horizontal axis simultaneously. This process results in the north end of the gyro
rotor tracing a decreasing spiral path, eventually settling with the gyroscope horizontal and
aligned with the meridian.
If left uncorrected therefore, the northward travel would cause an upward tilt that would cause
the gyroscope to precess towards the west and then to go into a settling spiral. Eventually,
given a constant speed of northward movement, the gyro would settle slightly to the west of
true north.
The north-south component of speed is the product of actual speed and the cosine of the
course made good. Speed related errors are therefore greatest when travelling in a northerly or
a southerly direction.
To correct for these effects, the compass must know the direction and speed of travel. While it
uses its own self-generated heading information to determine the direction of travel, speed
information must come from an external source such as a speed log or a GPS receiver, or be
applied manually.
A.3 SUMMARY
❐ A gyrocompass will indicate the true north direction after an appropriate settling period.
❐ To maintain correct true north alignment, the gyrocompass must receive additional infor-
mation concerning its operating latitude.
❐ Also to maintain accuracy the gyrocompass needs to know its direction of travel, which it
generates itself, and the speed of travel. Speed information must arrive from an external
source, or be applied manually.
A I
Adjustments Installation
Azimuth bias 5–3 Alignment 2–4, 2–15
Test connector 5–4 Cable types 2–4
Alignment 2–4, 2–15 Choosing a location 2–3
Analogue rate of turn output 4–18
Auxiliary inputs 1–5 L
Azimuth bias adjustment 5–3 Latitude correction 1–5, A–5
Azimuth drift A–5 Latitude correction. See Corrections
Loss of GPS 3–5
C Loss of speed signal 3–6
Cable types 2–4
Continuous operation 3–9 M
Control unit. See RCU Maintenance
Controls 3–2 Error modes 3–5
Correction Test connector 5–4
Speed A–6 Manual speed input 3–5
Corrections 3–4
Latitude 3–4, A–5
N
NMEA data formats 4–5
D
North-seeking gyroscope A–2
Data formats
Analogue rate of turn output 4–18
Serial NMEA 4–5 O
Stepper S-code 4–17 Operation
Synchro output 4–17 Continuous operation 3–9
DIP switches 2–11 Lay-up 3–9
Power failure 3–9
Power-off 3–9
E
Power-on 3–3
Error modes 3–5 Operation during lay-up 3–9
GPS 3–5
Gyro failure 3–6, 3–7
Speed log 3–6 P
Power failure 3–9
Power-off 3–9
G
Power-on 3–3
GPS 1–5 Precession A–2
GPS failure 3–5
Gravity control A–2
Gyro damping A–5 R
Gyro failure 3–6, 3–7 Rate of turn analogue output 4–18
Gyrocompass configuration 2–11 RCU
Gyrocompass data formats Controls and indicators 3–2
Robertson’s 4–16 External location 2–10
SGB 4–17 Remote Control Unit. See RCU
Gyroscopic inertia A–1 Robertson’s data format See Gyrocompass
data formats
S
SGB data format See Gyrocompass data for-
mats
Speed correction 1–5, A–6
Speed correction. See Corrections
Speed log failure 3–6
Stepper S-code output 4–17
Synchro output format 4–17
T
Test connector 5–4
Toppling 2–3