contents

1 introduction 1

1.1 The Gyroscope 1

1.2 Guidance 2
1.3 Navigation 7

2 review of elementary dynamics 9

2.1 Newton's Laws 9

2.2 Moment of Momentum 10
2.3 Angular Momentum 12

3 fundamentals of the gyroscope 13

3.1 Classes of Gyroscopes 13

3.2 Sources of Momentum 14
3.3 The Angular Momentum Gyroscope 14
3.4 The Linear Momentum Gyroscope 15
3.5 Number of Sensing Axes 18
3.6 Suspension of the Momentum Element 20

4 elementary gyrodynamics 21

4.1 Dynamics of Spring-Mass System with Damping 21

4.2 Laplace Transforms 26
4.3 Dynamics of the Angular Gyroscope 28
4.4 Dynamics of the Linear Gyroscope 38