Gyro Compass System

• A north-seeking form of gyroscope used

as a directional reference in navigation.
• Modern gyrocompasses are so reliable
and so much more accurate than magnetic
compasses that they are now used as the
prime navigational instrument on nearly
every ship and on major aircraft and
missiles.
 Principles of Operation
• A gyrocompass combines the action of two devices, a
pendulum and a gyroscope, to produce alignment with
the Earth's spin axis.

• The principle is demonstrated with the model shown in

the illustration, which consists of a rapidly spinning,
heavy gyro rotor, a pendulous case which permits the
rotor axle to nod up and down (angle θ), and an outer
gimbal which permits the axle to rotate in azimuth (angle
ψ).
• For a gyroscope positioned at the Equator of the Earth, as
the Earth rotates, the gimbal moves with it. So long as the
rotor's spin axis is aligned with the Earth's axis, the gyro
experiences no torque from Earth rotation. If there is
misalignment, however, a sequence of restoring torques is
initiated.
 Gyroscope
• A mechanical or optical device used to maintain
orientation during motion.

• A mechanical gyroscope consists of a rapidly spinning

wheel set in a framework that permits it to tilt freely in
any direction or to rotate about any axis. The momentum
of such a wheel causes it to retain its attitude when the
framework is tilted.
• An optical gyroscope, laser or fibre, measures the
interference pattern generated by two light beams,
traveling in opposite directions within a mirrored ring or
fibre loop, in order to detect very small changes in
motion.

• Gyroscopes are used in compasses, in automatic pilots

on ships and aircraft, in the steering mechanisms of
torpedoes, in antiroll equipment on large ships, and in
inertial guidance systems.
 Gyro Compass Installation
• In a shipboard installation the system must be mounted
in a complete set of gimbals to isolate it from rolling,
pitching, and yawing motions of the ship.

• Friction must be minimized. Moreover, Schuler tuning is

employed to keep horizontal accelerations of the ship
from producing false torques on the pendulum; the
unique combination of gyro spin speed and pendulosity
is chose so that no acceleration of the instrument can
disturb its vertical reference.
• For many years the use of gyrocompasses in aircraft
was impractical because of their high speed and large,
rapid changes in attitude.
• The north-south component of vehicle velocity produces
an error which depends on the velocity magnitude.
• Aircraft applications of gyrocompasses therefore use a
modified version of the marine gyrocompass. The
gyroscopes are mounted on a platform that is stabilized
by signals from the gyroscopes. The platform is aligned
to the local vertical and to north prior to takeoff by using
essentially the same technique as for a marine
gyrocompass.
 COMPASS
• Compass is an instrument used to indicate
the direction of North and in navigation it is
used as navigational aid instrument that
can give a required datum line from where
the course and bearing can be measured.
 Types of Compass
• Magnetic compass
– Which is influenced by the earth magnetic
field and indicate the direction of magnetic
north.

• Gyro compass
– Which is influenced by the rotation of the
earth and indicate the direction of true north
Compass Rose
Magnetic Compass
Magnetic North
Bearing
Gyro Compasses
Repeater & Pelorus
 Gyroscopic Principles
• The wheel, or rotor, spin about its own axis and,
by suspending the mass in a precisely designed
gimbals assembly, the unit is free to move in two
planes each at right angles to the plane of spin.
• Thus, there are three axes in which the
gyroscope is free to move:
– The spin axis
– The horizontal axis
– The vertical axis
• The gyroscope possesses two natural
phenomena, associated with spinning
bodies upon which all of the applications
of the device are based. These two
phenomenas are:
– Gyroscopic inertia
– Precession
The gyrospin axis is stabilized irrespective of any
movement of the supporting gimbals.
 The Two Phenomenas
• The gyro is a perfectly balanced mass that is
arranged to spin at high speed symmetrically
about an axis. As long as the mass is spinning at
high speed, it displays rigidity. This is the first
property of the gyro and is called gyro inertia.
• Precession is the term used to describe the
movement of the axle of a gyroscope under the
influence of an external force. If a force is applied
to the rotor by moving one end of its axle, the
gyroscope will be displaced at an angle of 90°
from the applied force.
Effect of the Earth Rotation on the Gyro
• Earth rotates from west to east at a rate of
15°/hr and completes one revolution in 23h 56min
4sec.
• The effect of the earth’s rotation beneath the
gyroscope causes an apparent movement of the
mechanism.
• If the free gyro is sitting at the north pole, with its
spin axis horizontal to the earth’s surface, an
apparent clockwise movement of the gyro occurs.
• The spin axis remains constant but as the earth
rotates in an anticlockwise direction (viewed
from the north pole) beneath it, the gyro appears
to rotate clockwise at a rate of one revolution for
each day. This is known as gyro drift.
 Gyro Action
• We can show precession by using the models in figure 3-7, view (A) and
view (B). The gyro wheel is mounted so it is free to have its spin axis
pointed in any direction. Here the wheel rotates in a flat loop called the gyro
case (inner gimbal). The gyro case is pivoted in the gimbal ring (outer
gimbal) and the gyro can swing about the Z axis. The gimbal ring itself turns
on pivots that connect it to the fork (support). The fork permits the gyro to tilt
from side to side about the Y axis.
• Regardless of how the fork is placed, the spinning gyro wheel is free to lie in
any given plane. That's why it is called a free gyroscope in this type of
mounting.
• To show the effect of precession, we can push down on the gimbal ring at
point A at the nearer end of the Z-Z axis. (See view A of figure 3-7.) You
might expect the ring to tilt around the Y-Y axis. Instead, the gyro case will
tilt about the Z-Z axis. You can see the effect of this precession in view B.

• Here's a rule that applies to all spinning gyros: THE GYRO WILL ALWAYS
PRECESS AT RIGHT ANGLES TO THE DIRECTION OF THE APPLIED
FORCE. Look at view A again. If we keep pushing down on the gimbal ring
at point (A), the gyro case will keep turning until the spin axis of the gyro
wheel is horizontal. Then there will be no further precession. At this point
the gyro wheel will be spinning in the same direction in which the applied
force is pushing.
• Here's another rule: A GYRO ALWAYS PRECESSES IN A DIRECTION
TENDING TO LINE ITSELF UP SO THAT ITS ROTOR SPINS IN THE
SAME DIRECTION THAT THE APPLIED FORCE IS TRYING TO TURN IT.
In other words, the direction of spin chases the applied force. When the
direction of spin and the applied force are in the same direction, precession
stops.
• Now, compare the spin (X) axis in the two parts of the figures above. In view
A, the spin axis is vertical. In view B, the spin axis has moved from the
vertical until it is much closer to being horizontal. By applying the right
amount of force in the right place, we have a method of "aiming" the spin
axis so that it points to the specific fixed direction in space where we want it.
The property of PRECESSION makes the property of RIGIDITY useable.
• You should understand that most forces, when applied to the gyro mounting,
do not cause precession. For instance, you can swing the fork around in any
direction, and the motion will merely be taken up in the Y-Y and Z-Z axes.
Similarly, a force applied lengthwise along one of the axes will have no effect.

• Any force acting through the center of gravity of the gyroscope does not
change the angle of the plane of rotation but moves the gyroscope as a unit.
The position of its spin axis in space is not changed. Such forces as those
stated above, operating through the center of gravity, are forces of
TRANSLATION. In other words, the spinning gyroscope may be moved
freely in space by means of its supporting frame, without disturbing the plane
of rotation of the rotor. This condition exists because the force that is applied
through the supporting frame, acting through the center of gravity produces
no torque on the gyro rotor. ONLY THOSE FORCES TENDING TO TILT
THE GYRO WHEEL ITSELF WILL CAUSE PRECESSION.
• Let's consider further the important characteristic of gyroscopic precession.
For a given amount of force, the rate of precession of a gyro is governed by
the weight, shape, and speed of the rotor. These factors are the same as
those that determine the rigidity of a gyro. Therefore, there is a definite
relationship between the rigidity of a gyro and the rate at which a given force
will cause it to precess. The greater the rigidity of a gyro, the more difficult it
is to cause precession, and the less precession there will be for a given
force.

• A gyro will resist any force that attempts to change the direction of its spin
axis. However, it will move (precess) in response to such force; NOT in the
direction of the applied force, but at right angles to it.

• The direction a gyro will precess also depends on the direction the gyro is
spinning. Precession is actually the result of two forces: angular momentum
(spinning force) and the applied force (torque). The direction of precession
is always offset from the direction of the applied force. The offset is always
in the direction of rotor spin.
• For example, when a force is applied upward on the inner gimbal, as shown
in figure below, the force may be visualized as applied in an arc about axis
Y-Y. This applied force is opposed by the resistance of gyroscopic inertia,
preventing the gyro from rotating about axis Y-Y. With the rotor spinning
clockwise, the precession will take place 90° clockwise from the point of
applied force. The gyro precesses about axis Z-Z in the direction of the
arrow "P".
• The motions of a gyroscope can be analyzed according to three basic
quantities:
– SPIN (the angular velocity of the gyro rotor).
– TORQUE (the rotary motion applied to change the direction of the rotor axis).
– RECESSION (the resulting angular change of the spin axis when torque is applied).

• The above quantities are related to vectors so that the relative directions
may be easily compared. The SPIN VECTOR lies along the spin axis of the
rotor with an arrow indicating the direction of rotation. The TORQUE
VECTOR represents the axis about which the applied force is felt. The
PRECESSION VECTOR represents the axis about which precession
occurs. In all the above cases the direction of the vector is such that the
quantity (spin, torque, or precession) is in a clockwise direction if viewed
from the tail of the vector.
• A simple hand rule will help you determine the
direction of the SPIN VECTOR. (See fig.
below.) Curve the fingers of your fight hand in
the direction in which the rotor is turning as if
you intended to grasp the rotor. Your thumb will
point in the direction of the spin vector. Similar
rules will give you the direction of the TORQUE
VECTOR and the PRECESSION VECTOR.
With the fingers of your right hand wrapped in
the direction of the applied torque (die direction
the gyro would rotate if the rotor were not
spinning), your thumb points in the direction of
the torque vector. Placing your curved fingers in
the direction of precession will place your thumb
pointing in the direction of the precession
vector.
• All three motions are rotary (angular) and can
be represented by vectors that point in such a
direction that when you look in the direction of
the vector the rotary motion around the vector is
clockwise.
 The North-Seeking Gyro
• The gyrospin axis can be made meridian-
seeking (maintaining the spin axis parallel
to the earth’s spin axis) by the use of a
pendulum acting under the influence of
earth gravity.
• The pendulum causes a force to act upon
the gyro assembly causing it to precess.
• As the pendulum swings towards the
centre of gravity, a downward force is
applied to the wheel axle, which causes
horizontal precession to occur.
• This gravitational force acting downward
on the spinner axle causes the compass to
precess horizontally and maintain the axle
pointing towards true north.