DE3227568A1 - DEVICE FOR DETERMINING THE NORTH DIRECTION BY MEANS OF A GYRO INFLUENCED BY EARTH ROTATION - Google Patents

Description

PATENTA ^ WA LTl-Jipl.-Phys. JÜRGEN WEISSE ■ Dipl.-Chem. Dr. RUDOLF WOLGAST ■ '

¹ BÖKENBUSCH41 D 5620 VELBERT 11 - LANGENBERG

Postfa * 110386 Telephone: (02127) 4019 Telex: 8516895

10 patent application,,

Hodensecwerk, .Geräte techni k GmbH, ä) -777O UberJ i nj $ en / JJodense_e

Device for determining the north direc- tion by means of an .s 3 5 from the rotation of the earth with an inflated gyro

The invention relates to a device for determining the north direction by means of the rotation of the earth influenced gyro containing

(a) a two-axis gyroscope whose spin axis is substantially vertical and the two mutually yu and the spin axis perpendicular Kingangs- "° ac has .SEN)!, wherein

(a) on each entry axis of the gyro

Position tap and a torque generator are provided and

(A) the pick-up signal of each position pick-up assigned to an input axis for the electrical restraint of the swirl axis of the gyro

sine / 1 amplifier crosswise on the rotary

; -nome: nterz, euger of the other input

gear axis switched i ^r t,

-Jt-

(b) a rotating device for rotating the gyro with its input axes about the spin axis,

(c) storage means for storing signals which aiJs derived from the tap signals and in different Angular positions of the gyro can be tapped, and

(d) Signal evaluation means to which the stored signals can be switched, · ζ \\ τ formation of an az i mu tsi gnn Is which is compensated for gyro errors and indicates the north direction.

-J iJiircl) DE-AS 27 ¹ 1 1 27'i a device for the automatic determination of the north direction is known, in which a two-axis gyro with a substantially vertical spin axis is provided. A position tap and a torque generator are provided on each of two mutually perpendicular input axes of the gyro. The signal of each position tap assigned to an input axis is connected to the torque generator of the other input axis in order to electrically restrain the gyroscope with its twist axis to the vertical. The signals fed to the two torque generators are simultaneously switched to a cord deviation calculator, which, from the ratio of the signals, determines the deviation of a fixed direction of reference from

North provides a signal reproducing. If the reference direction is from one of the two input axes is formed, then the north deviation angle is equal to the arctangent of the ratio of that of the two torque generators exercised as a result of the connected signals'; Torques. Provided

ORIGINAL INSPECTED

is here that the spin axis of the gyroscope is exactly perpendicular.

It is also known from DE-AS 27 ki 2.1h to provide a pair of accelerometers which are attached in a fixed positional relationship to the size of the gyro and whose axes of sensitivity are perpendicular to one another and run parallel to the two input axes of the gyro. A computer is provided to which both the signals fed to the torque generators of the gyro and the accelerometer signals are fed. This computer calculates the true Norda ^v n jichungsvwinkel taking into account the inclination of the gyroscopic axis relative to the vertical determined by the accelerometers. This makes it possible to determine the north deviation angle or the azimuth angle to north even if the gyroscopic spin axis is not exactly vertically aligned.

The signal from the two-axis rate gyro is subject to certain systematic errors, the for example by assembly tolerances, a mass unbalance, an anisoelasticity or the like. evoked are. In order to compensate for this systematic error as far as possible, it is known to move the gyro by one to rotate horizontal and / or around a vertical axis by 180 and in each of the two positions

ti

received signals supplied to the torque generators (DE-AS 29 03 282). By sum and subtraction from the so stored Signals can then be obtained to determine the north deviation, in which certain signals

systematic errors of the gyro are compensated. 35

Devices for determining the north direction, in which a gyro with an essentially horizontal spin axis can be rotated around a vertical axis into a 0 position, a 90 position and a 18O position, are also described in DE-OS 29 22 k \ 2. and in DE-OS 30 19 372 described.

The known devices deliver high accuracy in absolutely quiet surroundings when on the gyro housing no external translatory or rotary toric si Disturbances work. Such measurement conditions are encountered, for example, when the device is operated on a Tripod on. When used in a disturbed environment, e.g. in vehicles, the various Positions measured torque transducer signals, however, contain disruptive components caused by the disruptive movements of the gyro housing are caused around its axes. These proportions lead to a limitation the accuracy of the north or azimuth angle, even if the essential systematic Errors of the gyro are compensated.

The invention is based on the object while maintaining the prior art Compensation of gyroscopic errors also eliminate or reduce those measurement errors caused by Disturbing movements of the gyro housing are caused as a result of environmental influences.

According to the invention this object is achieved in that

(e) the gyro with the input axes through the rotating device continuously around the spin axis is rotatable,

ORIGINAL INSPECTED

ί. ί. !

(f) for deriving the signals to be stored in the storage means from the tap signals Integration means for integrating the reinforced ones supplied to the torque generators Tap signals are provided and

(g) the integration means after each tapping of the formed integral and transferring the same to the storage means automatically a \ i f zero resettable are.

So there is no gradual adjustment of the gyro in different angles uellungen, in each of which then takes a stationary measurement.

Rather, the gyro is rotated continuously, at a constant speed, over 36Ο. Measured become the integrals of the signals also switched to the torque generator. The integration takes place in each case from a given angular position of the gyro to the next, whereby the Integrals are stored and then the means of integration are reset to zero. It can be show that through this integration, on the one hand, the compensation of the systematic gyroscopic errors is obtained remains while, on the other hand, the influence of external disturbances is reduced.

Refinements of the invention are the subject of the subclaims.

Embodiments of the invention are set out below with reference to the associated Drawings explained in more detail:

ORIGINAL JNSPECTED

Fig. 1 is a schematic representation of a

First embodiment of a device for determining the north direction with a gyro with a vertical spin axis and the integration memory shown as a block diagram

and Signalverarbextungsmxteln.

Fig. 2 shows the signal processing means as a block diagram in the embodiment according to FIG. 1.

FIG. 3 shows another embodiment of a device in a representation similar to FIG to determine the north direction.

FIG. H represents the vectorial measurement equations for the device of FIG.

Fig. 5 shows schematically first hacking means at the device of Fig. 3 for calculating the

Parameter vectors.

Fig. 6 shows schematically second computing means

in the device of FIG. 3 for calculating the output variables.

7 shows a modification of the second computing means of Fig. 6.

In Fig. 1, 10 denotes a gyro housing in which a two-axis gyro on the type of Fig. 1 of DE-AS 29 O3 282 is arranged. That Gyro housing defines a coordinate system x \ y and ζ, the gyro-fixed coordinate system. the

K

Coordinate axis ζ coincides with the spin axis of the top. The twist vector is denoted by H.

τ / ·

The coordinate axis χ coincides with a first input axis of the gyro, and the coordinate axis y coincides with a second input axis of the gyro. In a manner not shown here, a first position tap and a first torque generator are seated on the first input axis χ. A second position tap and a second torque generator are located on the second input axis y. The tap signal of the first position tap is switched to the second torque generator via an amplifier 12. Correspondingly, the tap signal of the second position tap is sent via an amplifier 1k to the first torque generator gesrh ILpI. The amplified tap signals that are connected to the torque generators are denoted by T and -T, respectively.

J -tr

The gyro housing 10 is mounted in a housing l6 so as to be rotatable about the swirl axis ζ. The housing 16 is arranged fixed to the vehicle, for example. the

TC

The coordinate axis ζ is essentially vertical. The housing l6 defines a coordinate system with the coordinate axes χ, y and ζ. In the "0 position" shown in FIG. 1, the

xr

Coordinate axis χ of the gyro-fixed coordinate system parallel to the coordinate axis χ des

housing-fixed coordinate system. Correspondingly lies the coordinate axis y, the second input axis of the gyroscope, parallel to the coordinate axis fixed to the housing y, and the coordinate axis ζ lies parallel to the coordinate axis ζ. The angle between the Coordinate axis χ fixed to the housing and the north direction is denoted by ψ (0).

The gyro housing 10 can be rotated by a motor l8 about the gyroscopic swirl axis, that is to say the axis ζ at a constant rotational speed Od . The position of the gyro housing 10 relative to the housing is picked up by a position transmitter 20.

The signal T fed to the first torque generator is integrated by an integrator 22. The signal -T applied to the second torque generator

v. i rd integrated by an integrator 2k . Integrators 22 and 2k are via reset inputs isvi. 28 a'if zero resettable.

j ■ -.-.- sr .'.- Jps integrator 22 is connected in parallel to one. . -0 and to a memory 32. The exit < · ■ ·. integrator 22 is entered into memory 30 by a signal 3 '* and by a •. ■■■ ingane: 36 transferred to memory 32

. ν r: ·, integrator 2k is parallel ι - '- ■■ »;'. pinem memory kO . The -.to rs 2k becomes i. ":; rch a ϊ ü iv 1 Speiri: *> r 38 and -.- ''" kk i? - · 'η Speihe j- ■. £. <- ■ · ■ - rather [! '<.- ■ is a

_: . * ,. ι - · ♦ ¹ ^ r 'old logic

- ■ • teiiu: i; i <. it

t- - ~. . "λ:. S> i rill ^ -s ö

■■ T. ΐ '- · - - ": = '. .ϊΠ" 4 '"■ is

BAD ORIGINAL ORIGINAL INSPECTED _1NC OMPLETE

The signals stored in the memories 30 * 32, 38 and 40 are applied to a signal processing circuit 56, which is shown in detail in FIG. The signal processing circuit 56 supplies the azimuth angle ψ (ο) between the housing-fixed coordinate axis χ and the north direction. The signal processing circuit also supplies the sine and cosine of this azimuth angle.

The circuit described works as follows:

The gyro is with the gyro housing 10 and the

Tf Tv

Input axes χ and y through H ^ c turning device l8 continuously around the twist axis ζ from the 0 position shown by 36Ο into a 36Ο position twisted. The first and the signals supplied to the second torque generator

T and -T are shaped by integrating means x y

the integrators 22 and 24 integrated. When the 18Ο position is passed, a pulse appears on the Output 48 of the switching logic 46, the acceptance of the signal from the integrator 22 in the memory 30 and of the signal from the integrator 24 into the memory. With one through the delay element The short delay caused, the integrators 22 and 24 are reset to zero via the OR gate 52. The signals fed to the torque generators are reintegrated until the 36Ο position is reached. Then a pulse appears at the output 50 of the switching logic 46, which the Transfer of the signal from the integrator 22 to the memory 32 and the signal from the integrator 24 to the Memory 40 causes. The same pulse then causes the OR gate 52 and the

delay switch 54 resetting the Integrators 22 and 24.

At the end of this rotation, integral values I (18O), Ι _χ Ο60), - I (180) and - I (36Ο) are thus stored in the memories 30, 32, 38 and kO. These signals are switched to the signal processing circuit 5 " ge, which is shown in Fig. 2 as a block diagram in detail .

The integrals are picked up and transferred, as I said in an 18Ο position and one against it 180 angularly offset 36Ο position of the gyro. The signal evaluation means contain means 58 for forming the difference in the 180 position and in the 36Ο position tapped integrals I "(180) or I (36Ο) of the one on the input axis

* χ

x ^ seated first torque generator supplied, amplified tap signals. As a result, a first difference signal ^ I is generated. There are also means 60 for forming the difference between the integrals tapped in the 180 position and in the 3G0 position - 1 (18Ο) or - J (36Ο) of the on

^y κ ^y

the second input axis y arranged second torque generator supplied, amplified tap signals are provided. A second difference na Λ I is generated. The signal evaluation means also contain means 62 for multiplying the first difference signal Λ I by a factor

K = - i ^
χ 5

Sl c

and means 64 for multiplying the second Difference signal /; I with a factor

y ^{= ς} ~ τΠ

- ^L c,

where / 0 1 as said, is the speed of rotation,

with which the top is rotated by the rotating means l8 and St is the horizontal component of the earth's rotation speed. The signal evaluation means also contain summation means 66, by which the first difference signal Λ I multiplied by the factor K is added with a correction factor c,

Jt jC

represented by block 68, and the second difference signal A I multiplied by the factor K is added to form a signal representing the cosine of the azimuth angle cos T (O) to the north, as well as summation means 70 by which the second difference signal A 1 multiplied by the factor K is added with a correction factor c

y y

by block 72, and the first difference signal /) 1 multiplied by the factor K is added to form a signal representing the sine of the azimuth angle sin 'Ψ (0) to north. By forming the arcsine or the arcsine, as is shown by blocks 74 and 76, the azimuth angle ^ p (0) can be obtained from the cosine or the sine.

In the arrangement according to FIG. 3, the structure of the gyro with the rotating device and the position transmitter is the same as in FIG. 2, and corresponding ^ ° Parts are given the same reference numerals like there.

The integration means contain a first and a second voltage-frequency converter 78 or 80,

through which the signals supplied to the first and the second of said torque generators in pulse frequencies proportional to this can be implemented. The pulse frequencies of the first and the second Voltage-to-frequency converters 78 and 80 are on one first and a second counter 82 and 84 switched on. With 86 storage means are designated. It

are means 88 and 90 for transmitting the counter readings provided on the storage means 86. The position transmitter 20 responds to the rotation of the gyro by the rotating device l8. The position transmitter is connected to a logic 92 that is controlled by the Position transmitter is controlled and through which the means 88.90 for transmitting the counter readings so It is possible to control that in the 180 position and in the 360 position the counter readings are sent to the storage means 86 are transferred. The counters 82 and 84 can be reset to zero by pulses on reset inputs 94, 96. Set these idle inputs 94 and 96 "Means for resetting the counters to zero". These means for resetting the counters are through the logic 92 controllable so that subsequent to the transfer of the counter readings to the storage means in the predetermined angular positions of the gyro, the counters 82 and 84 are reset to zero.

The gyro is by the rotation means 18 from a 0 position continuously by a full Forward rotation to a 3 & 0 -Stellxang and then '/, can be rotated into the 0 position. The signals from the integration means 78,82 and 80,84 are both in different angular positions of the gyro when the gyro is rotated forwards and backwards while resetting, the integration means are tapped and transferred to the storage means 86 transfer. In the illustrated embodiment

⁰ ^ when the gyro is rotated forwards and backwards, the signals from the integration means 78.82 and 80.84 in the 90 ° position, 180 ° position, the 270 position and the 360 position xmo back to the 270 ° Position, the 180 ° position, the 9O ° position and the 0 position are tapped and transferred to the storage medium 86. After such a cycle

ΔI

the storage means thus contain eight stored ones Integrals, namely I (2,0), Ii |, £), I (- ^ T, |),

i _y (T, | t), _Iy (| t, t, _Iy (- | t), i _y (I f)

V ⁰ · τ »i Ii

I (0, -r-), where T is the time, ο the top for a rotation from the 0 position to the 360 position needed. These integrals can be combined to form vectors ζ and ζ. There are

—X —y

first keching means 98 are provided, by means of which, according to the method of least squares, parameter vectors χ in a manner to be described below

—Χ

and χ are formed. Second Tve ^ nermittel lOO

—Y

calculate the various output variables from the components of the parameter vectors, namely the azimuth angle ^ U (O ), the geographical latitude, the gyro drift as well as the pitch and roll angles. Pitch and roll angles are fed back to the first computer means 98, as shown by lines 102 and 10 ^. The rotational speed ") and known error parameters (mass unbalance coefficient m anisoelasticity coefficient η and quadrature coefficient q) are also applied to the first computer means 9 $.
25th

The measurement vectors ζ and ζ depend on the parameter

—X —y

vectors χ and χ by the one shown in Fig. k

~ -x -y

Matrix equation together.

As can be seen from Fig. 5, the first Computing means

the relationship

Computer means 98 the parameter vectors χ and χ according to

—X —y

(2) χ »(M ¹ M)"? M ^Τ . Ζ

-Y y y y -y

whereby

ζ is the first measurement vector that is derived from the eight

stored integrals of the on the first torque generator given signals is formed,

ζ is the second measurement vector that of the eight

-y

stored integrals of the signals given to the second torque generator is,

M is the measurement matrix belonging to the measurement vector jz, which depends on the speed of rotation '·

M is the measurement matrix belonging to the measurement vector ζ,

y -y

which also depends on the speed of rotation; / with which the gyro through the rotating device is twisted around the twist axis,

χ one according to the method of the smallest error -— x

squares optimally calculated first parameter vector with the components

_

a = C i2
Ix lic

^a 2x = Sl ^k s

^tt yx

By

is where C are the elements of the direction cosine matrix for the transformation from a solid housing in _in earth solid Coordinate system, J * - the horizontal component and J * - the vertical component of the earth's rotation

speed, * the misalignment angle

yx

of the gyro and B the zero point drift of the Gyro is around the second input axis, and

χ a method based on the smallest error

—Y

squares optimally calculated / -wide parameter vector with the components

* S ₂

a ₌ c Λ

ky 32 s

xy
B.

is in which cL the incorrect mounting angle

xy

of the gyro and B the zero point drift of the Gyro is around the first input axis.

matrices.

M M are the measurement shown in Fig. 4t

x y

From the components of the parameter vectors χ and χ, the second computing means 100 outputs

~ ^y

corridor-sized formed. As can be seen from FIG. 6, the second hacking means 100 contain means 106 for

^ 3O - s K

vectors according to the relationship

Formation of quantities a. from components of parameters (3) a. ^s 77 (β + a.;. ^J ι 2 xx iy

The parameter vectors x and χ supplied. The means 1θ6 directly supply the drifts B B of the gyro about the two input axes.

There are also means 108 for forming the azimuth angle to the north according to the relationship

(Ii) "Μ - * = - arc tan - * ■

intended.

This angle is output at an output 110.

Equation (4) is ambiguous. It requires the input of the quadrant or a rough azimuthal one Preorientation so that the angle ~ p between - 90

and + 90 °.

The second hacking means 100 finally contain

Means 112, to which the angle '] ■' and the quantities a ^a -, are supplied and which the horizontal component - * of the earth's rotation speed according to the relationship

a a

(5) Q ₌ L_ _or ο ₌ Λ

c cos' c

_or
c cos' c sm

(depending on the quadrant). Finally, there are means 114 for determining the geographical latitude after the relationship

(6) cos «h = ! -

, ft _c

(7) φ s = arc cos ρ—

(8) sin φ> = (1 -

cos

provided, where ^ l is the rotational speed of the earth. The means Il4 deliver the latitude 0 , which is output at an output Il6, and sin φ .

Means 118, to which sin C ^{1 is} supplied, determine the pitch angle Oi according to the relationship

Means 120 determine the liollwinkel j according to the relationship

(ίο) ¹ T =

"Jt

Pitch and collapse angles ^ J · and '· are output at outputs 122 and 124.

If the quadrant of the north direction is not known or no pre-alignment has been made, the geographical latitude C ^: must be entered into the second computer means 100, as is shown in FIG.

In FIG. 7, IO6A denotes the means which are composed of the components a. and a. of the parameter vector

* ^{1X iy}

the sizes a. and at the same time deliver the gyroscopic drifts B and B. These funds correspond χ y

the means 106 in FIG. 6. In the embodiment according to FIG. 7, however, means 126 are provided which, in addition to the quantities a. latitude J 1 is supplied. The means 126 form therefrom according to the relationship

ΤίΤ

i -32

^a i

(11) cos N- = —τ—

(12) sin

the cosine and the sine of the azimuth angle "V to north. These quantities appear at an output possibly with the azimuth angle ^ p itself, which can be uniquely determined from cos ^ and sin ^ in any quadrant. Means 13Ο are also provided, which according to the relationships

a.

provide the pitch and collapse angles r3> and ^ respectively.

As shown in FIG. 5, in a further embodiment of the invention, the variances of the parameter vectors to be determined. For this purpose there are means 132 for determining vectors w and w

-x -y according to the relationships

(15) w = ζ - M χ
—Χ —χ χ — χ

(l6) w = ζ -Mx

- ^ ~ ^y ^

intended. The vectors w and w thus obtained

—X —y

are given on means 13 ^. These form from it the variants of the vectors χ and χ according to the

-x -y

Relationships

W W

2Q

(17) VAR (χ) «= (M ^Τ M) .- '

—Χ η - m χχ

W ^T W

(1-8) VAR (χ) = (M ^Τ M Γ ¹

· -Y η - m y y

this provides a measure of the accuracy of the measurement carried out. With the calculated variances of the optimally determined parameter vectors can also be the corresponding Variances of the output variables determined according to FIG. 6

be determined.

It is possible to have further gyro-specific measurement errors (Mass unbalance m, square "i drift q,

Compensate for anisoilasticity n) zxi. To this end 15th

the stored components of the measurement vectors of both measurement axes are correspondingly dependent on the earth's acceleration Terms corrected before optimal values for the parameter vectors are determined

will. To compensate, the pitch and 20

Roll angle required. The parameter vectors and the output variables are then calculated iteratively by initially adding the parameter vectors and from them the output variables without compensation

to be determined. With the values found for the 25th

Pitch and roll angles are then shown as shown by lines

10 ^ is shown, a re-determination of the Parameter vectors carried out with compensation of the gyro parameters mentioned. This results improved values for the output variables. This process can be repeated until sufficient Accuracy in the determination of the output variables is achieved. This is indicated by the variances.

10

.20

The signal processing described so far is based on this

that the gyroscopic drifts B and B around the

KK ^X Y.

axis χ and y of the gyro are constant during the entire measuring process. This cannot always be assumed in practice. In order to take into account changes in the gyro drifts during the measurement process, instead of the constant gyro drifts B and B, time-dependent gyro drifts in the χ y

shape

(19) B (t) = B ^X + B ^X. t + B ^X. t

(20) B (t) = B _o ^y + IJ ^. t + B ₂ ^y . t ² must be taken into account.

This results in over the Meßmatritzen of FIG. K the following Meßmatritzen

^20th

"' ²

ι JF3

τ ³

(21) M _yf

M _yf

^{26th 30th}

-r

J. f '

J.

(22) M,
χ

M,

35

where M and M are the measuring matrices of Fig. k .

χ y

The associated parameter vectors result from

5 (23) x _y =

G Si 11 c

32

B yx I o

S ₂ ^J: »

xy ο

Otherwise, the signal processing remains essentially the same as described above.

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Claims (1)

Ι 0 claims 1. Device for determining the north direction by means of a "jj .. trip ice, containing (a) a biaxial gyroscope, the spin axis (z) of which is essentially vertical and the two perpendicular to each other and to the twist axis Τ ' Ίζ has right input axes (x, y), where K TC (a) on each input axis (x, y) of the Kreisels a position tap and a torque generator are provided and (a_) the tap signal of each of an input K TC axis (χ, y) assigned position tap for the electrical restraint of the twist axis (ζ) of the gyro via a Amplifier (I2, l4) crosswise on the Torque generator of each other K K input axis (y, x) is switched, (B) a rotating device (l8) for rotating the K K gyro with its input axes (x, y) around the twist axis (z), (c) Storage means (30, 32, 38, 40 or 86) for Storing signals that are derived from the tap signals and can be tapped in different angular positions of the gyro, and
10 (d) signal evaluation means (98, 100) to which the stored signals can be switched, for the formation of a compensated for gyro errors, indicating the north direction Azimuth signal, characterized in that TC K * (e) the top with the input axes (x, y) through the rotating device (l8) is continuously rotatable around the twist axis (z), (f) for deriving the in the storage means (30, 32, 38, 40 and 86) signals to be stored integration means from the tap signals (22.24 and 78, 80, 82, 84) to integrate the reinforced ones supplied to the torque generators Tap signals are provided and (g) the integration means after each tapping of the formed integral and transferring it can be automatically reset to zero on the storage means. , 2k ' 2. Apparatus according to claim I _1, characterized in that (a) tapping and transferring the integrals .O in a 180 position and a 360 position of the at 180 degrees Kreisels takes place and (b) the signal evaluation means (Fig. 2) (b) Contains means (58) for forming the Difference between the integrals tapped in the 18O position and in the 36O position of the amplified values supplied to a <? Rz ^J · λ of the torque generator Ib tap signals for generating a first Difference signal as well (b) means (60) for forming the difference in the 180 position and in the 36Ο position tapped integrals of the the second of the torque generators supplied, amplified tap signals for Generation of a second difference signal. 3 · Device according to claim 2, characterized in that the signal evaluation means (a) Contains means (62) for multiplying the first difference signal by a factor - -1 u- - 4 pp 24 a as (b) means (64) for multiplying the second difference signal by a factor 'Q whereCt? the speed of rotation is at which the gyro through the twisting means is twisted, and -S - the horizontal component of the earth's rotation speed. 4. Apparatus according to claim 3 »characterized in that the signal evaluation means continue (A) summation means (66) contain through which to the first difference signal multiplied by the factor K that with a correction factor c and the factor K multiplied second χ y Difference signal is added to form a the signal representing the cosine of the azimuth angle to north, as well as (b) summation means (70) »by which to the by the factor K multiplied second difference signal that with a correction factor c and the factor K multiplied first y y Difference signal is added to form a represents the sine of the azimuth angle to the north setting signal. 5. Apparatus according to claim 1, characterized in that that the means of integration
25th (a) first and second voltage-to-frequency converters (78,80) included which the first or the second the signals applied to said torque generator in proportional pulse frequencies are feasible, (b) first and second counters (82,84) which count the pulse frequencies from the first or the second voltage-frequency converter (78,80) are switched on. (c) means (88,90) for transferring the counter readings to the storage means, (d) means (9 ^, 96) for resetting the counters b zero, (e) a position transmitter (20) which responds to the rotation of the top by the rotation device (18), (f) a logic (92) controlled by the position transmitter (20) through which the means (88, 90) for transmitting the counter readings and the means (9 ^, 96) for resetting the counter (82, 84) so are controllable that in predetermined angular Positions of the top (f) the counter readings on the storage means (86) transferred and (f) then the counters (82, 84) are reset to zero. 6. Apparatus according to claim 1, characterized in that ^ "the top through the twisting means (l8) from a 0 position continuously by one full turn "forwards" to a 36Ο position and can then be rotated "back" into the 0 position. 7. Apparatus according to claim 6, characterized in that that the signals from the integration means (78,80,82,84) in different angular positions of the gyro for both forward and when turning the top below 35 Resetting the integration means are tapped and transferred to the storage means (86). 8. Apparatus according to claim 7 »characterized in that when the gyro is rotated forwards and backwards, the signals from the integration means (78» 8θ | 82, Qk) in the 90 ° position, the 180 ° division, the 27O ° position and the 360 ° position and back in the 270 ° position, the 180 ° division, the 90 position and the 0 position are tapped and transferred to the storage means (86). 9 · Device according to claim 8, characterized in that the signal evaluation means (a) first computing means (93) e ^ t! jiten to education from λ τ ι τ χ = (M ¹ M). M ^J. ζ —Oc xx χ —x χ = (M ^T M) ~ ¹ . M ^T. ζ, y y y y -y . whereby the first measurement vector is that of the eight stored integrals of the given first torque generator Signals are formed, 7. The second measurement vector is that of the eight —Y stored integrals of the signals given to the second torque generator is formed 32275 (50 M is the measurement matrix associated with the measurement vector z ^ χ χ which depends on the rotational speed UJ with which the gyro is rotated by the rotating device about the spin axis, M is the measurement matrix belonging to the measurement vector 2 ^ , which also depends on the rotational speed Cu with which ] 0 the gyro through the rotating device is twisted around the twist axis, χ a first optimally calculated using the least squares method Parameter vector with the components a, = C .. R
Ix 11 c = Sl ^ yx is in what C., the elements of the ik Direction cosine matrix for the transformation from a fixed to an earth-fixed coordinate system, ic the Horizontal component and Jc the vertical component of the rotation of the earth speed, ot is the incorrect mounting angle of the gyro and B is the zero point drift of the gyro around the second input axis, and x according to the method of the smallest error -y squares optimally derived second parameter vector with the components Si - C * 4y ~ xy ¹⁵ B is in which ^ f the incorrect mounting angle of the gyro and B the basic point drift of the top around the first Input axis is, as well (B) second computer means (100) for calculating output variables from the components of the Parameter vectors. 10.Gerät according to claim 9, characterized in that the second computing means (100) means (106) for forming ^ i ~ 2 ^x "ix '" iy A 1 ι Λ ^Λ \ i = 1,2,3,4 included. 11 I D ρ C. 11.Gerät according to claim 10, characterized in that the second computer means (100) means (108) for forming the azimuth angle ¹ ^ to north according to the relationship 7 = - arc tan -zr ~ contain. 12.Gerät according to claim 11, characterized in that the second computing means (lOO) (a) Means (112) for determining the horizontal salon Si. relationship component Si. according to the rotational speed of the earth c cosT-f "sin Vf included as well (b) means (114) for determining the latitude ψ according to the relationship T-cxv. cos - φ- where Jt "is the rotational speed of the earth, BATH ORIGINAL 13 »Device according to claim 12, characterized in that that the second computing means (100) (a) Means (118) for determining the pitch angle according to the relationship ■ ft sin φ E and (b) means (120) for determining the roll angle according to the relationship contain. 14.Gerät according to claim 8, characterized in that the Signal evaluation means (a) first computing means included for the formation of 7 ~ ¹ ^ χ = (M, Mi), M '. ζ —xx '· χ χ —x y · V ¹ ^ y "'' -y whereby
30th the first measurement vector is that of the eight q stored integrals of the signals given to the first torque generator are formed will, M, the measurement matrix belonging to the measurement vector z ^ which depends on the rotational speed U) with which the gyro is rotated by the rotating device about the spin axis, M is the measurement matrix associated with the measurement vector ζ y ~ y is, which also depends on the speed of rotation $ with which the gyroscope through the rotating device to the twist axis is rotated, 5c- a least squares method optimally calculated first parameter vector with the components ^a 1x ^a 2x = ^C 31 ^ s
20th ^a 3x ^{= C} 12 ^ü c ^a 4x ν ^B o ^{y B} 1 is, in which C ₁ the elements of the 'xk Direction cosine matrix for the transformation from a fixed to a housing Earth-based coordinate system, Q the horizontal component and Ω is the vertical component of the earth's rotation speed, <i der ORIGINAL INSPECTED Incorrect mounting angle of the gyro and the B. the coefficients of a function B _y (t) = B _o * + B ₁ ^X. t + B ₂ ^Y. \ T are, by which d ^J ^ - spread over time changing zero point drirt of the gyro is approximated around the second input axis, and 5 {one according to the method of the smallest error squares optimally calculated second parameter vector with the ^ CJ ^a 2y ^{= C} 31 ^Ö s ^a 3y ^{= C} 12 "c ^a 4y ^{= C} 32 ^Ü s is, in which 3, the incorrect mounting angle ^X Y _x
of the gyro and the B. the coefficients a function ^B x are, by means of which the zero point drift of the gyro around the first input ac ¹ ~ -e, which changes over time, is approximated, and (b) Second computer means for calculating output variables from the components of the parameter vector.