Multiple rotation gyroscope

Claim 2

In gyroscopic apparatus, a an inertial element having a first axis of inertial symmetry and a second axis perpendicular to said first axis, b the moment of inertia of said element with respect to said second axis being greater than that with respect to said first axis, c said inertial element being supported for rotation aBout said first and second axes simultaneously, d means for simultaneously rotating said inertial element about said first axis at a first angular velocity component and about said second axis at a second angular velocity component appreciably greater than said first angular velocity component for providing a spatial reference.

Claim 3

In gyroscopic apparatus, a an inertial element having a first axis of inertial symmetry and a second axis perpendicular to said first axis, b the moment of inertia of said element with respect to said second axis being greater than that with respect to said first axis, c said inertial element being supported for rotation about said first and second axes simultaneously d means for simultaneously rotating said inertial element about said first axis at a first angular velocity component and about said second axis at a second angular velocity component appreciably greater than said first angular velocity component for providing a spatial reference, and e means cooperative with said inertial element for providing a signal representative of the relative deviation of said reference with respect to a predetermined axis.

Claim 4

In gyroscopic apparatus, a an inertial element having a first axis of inertial symmetry and a second axis perpendicular to said first axis, b the moment of inertia of said element with respect to said second axis being greater than that with respect to said first axis, c said inertial element being supported for rotation about said first and second axes simultaneously d means for simultaneously rotating said inertial element about said first axis at a first angular velocity component and about said second axis at a second angular velocity component appreciably greater than said first angular velocity component for providing a spatial reference, and e means cooperative with said inertial element for providing a signal representative of the relative deviation of said reference with respect to a predetermined axis.

Claim 5

In gyroscopic apparatus, a an inertial element having a first axis of inertial symmetry and a second axis perpendicular to said first axis, b the moment of inertia of said element with respect to said second axis being greater than that with respect to said first axis, c said inertial element being supported for rotation about said first and second axes simultaneously, d means for simultaneously rotating said inertial element about said first axis at a first angular velocity component and about said second axis at a second angular velocity component appreciably greater than said first angular velocity component for providing an angular momentum spatial reference normally coincident with a third axis, and e means cooperative with said inertial element for providing a signal representative of the deviation of said angular momentum spatial reference with respect to said third axis.

Claim 6

In gyroscopic apparatus, a an inertial element having a first axis of inertial symmetry and a second axis perpendicular to said first axis, b the moment of inertia of said element with respect to said second axis being greater than that with respect to said first axis, c said inertial element being supported for rotation about said first and second axes simultaneously, d means for simultaneously rotating said inertial element about said first axis at a first angular velocity component and about said second axis at a second angular velocity component appreciably greater than said first angular velocity component for providing an angular momentum spatial reference normally coincident with a third axis, and e means cooperative with said inertial element for providing a signal representative of the deviation of said angular momentum spatial reference with respect to said third axis.

Claim 7

In gyroscopic apparatus, a an inertial element having a first axis of inertial symmetry and a second axis perpendicular to said first axis, b the moment of inertia of said element with respect to said second axis being greater than that with respect to said first axis, c said inertial element being supported for rotation about said first and second axes simultaneously, d means for simultaneously rotating said inertial element about said first axis at a first angular velocity and about said second axis at a second angular velocity appreciably greater than said first angular velocity, and e pick-off means cooperative with said inertial element for providing a signal representative of the deviation of said inertial element from a predetermined axis.

Claim 8

In gyroscopic apparatus, a an inertial element having a first axis of inertial symmetry and a second axis perpendicular to said first axis, b the moment of inertia of said element with respect to said second axis being greater than that with respect to said first axis, c said inertial element being supported for rotation about said first and second axes simultaneously, d means for simultaneously rotating said inertial element about said first axis at a first angular velocity and about said second axis at a second angular velocity appreciably greater than said first angular velocity, and e pick-off means cooperative with said inertial element for providing a signal representative of the deviation of said inertial element from a predetermined axis.

Claim 9

In an inertial device, a an inertial element having a first moment of inertia with respect to a first axis and a second moment of inertia with respect to a second axis perpendicular to said first axis, b said second moment of inertia being greater than said first moment of inertia, c said inertial element being supported for rotation about said first and second axes simultaneously, d and means for simultaneously tending to rotate said inertial element about said first axis at a first angular velocity and about said second axis at a second angular velocity appreciably greater than said first angular velocity, e said first and second moments of inertia and said first and second angular velocities being interrelated whereby the tendency towards multiple rotation of said inertial element inherently compensates for mass unbalance effects of said inertial element and provides an accurate spatial reference.

Claim 10

In an inertial device, a an inertial element having a first moment of inertia with respect to a first axis and a second moment of inertia with respect to a second axis perpendicular to said first axis, b said second moment of inertia being greater than said first moment of inertia, c said inertial element being supported for rotation about said first and second axes simultaneously, d and means for simultaneously tending to rotate said inertial element about said first axis at a first angular velocity and about said second axis at a second angular velocity appreciably greater than said first angular velocity, e said first and second moments of inertia and said first and second angular velocities being interrelated whereby the tendency towards multiple rotation of said inertial element inherently compensates for mass unbalance effects of said inertial element and provides an accurate spatial reference.

Claim 11

In an inertial device of the character described in claim 5 wherein said first and second moments of inertia and said first and second angular velocities are interrelated to provide a leaning angle -Bu in accordance with the formula

Claim 12

In an inertial device for accurately defining a spatial reference, a a substantially spherical rotor having a first moment of inertia with respect to a first axis of inertial symmetry and a second moment of inertia with respect to a second axis perpendicular to said first axis, b said second moment of inertia being greater than said first moment of inertia, c said inertial element being supported for rotation about said first and second axes simultaneously, d means for simultaneously tending to rotate said inertial element about said first axis at a first angular velocity and about said second axis at a second angular velocity appreciably greater than said first angular velocity whereby the rotation of said inertial element inherently compensates for mass unbalance effects of said inertial element thereby accurately defining said spatial reference, and e means cooperative with said inertial element for providing a signal representative of the relative deviation of said reference with respect to a predetermined axis.

Claim 13

In an inertial device for accurately defining a spatial reference, a a substantially spherical rotor having a first moment of inertia with respect to a first axis of inertial symmetry and a second moment of inertia with respect to a second axis perpendicular to said first axis, b said second moment of inertia being greater than said first moment of inertia, c said inertial element being supported for rotation about said first and second axes simultaneously, d means for simultaneously tending to rotate said inertial element about said first axis at a first angular velocity and about said second axis at a second angular velocity appreciably greater than said first angular velocity whereby the rotation of said inertial element inherently compensates for mass unbalance effects of said inertial element thereby accurately defining said spatial reference, and e means cooperative with said inertial element for providing a signal representative of the relative deviation of said reference with respect to a predetermined axis.

Claim 14

In an inertial device for accurately defining a spatial reference, a a gyroscopic rotor having a first axis of inertial symmetry defining a first moment of inertia and a second axis defining a second moment of inertia perpendicular to said first axis, b said rotor being inertially asymmetrical with its moment of inertia with respect to said second axis being greater than that with respect to said first axis, c said rotor being supported for rotation about said first and second axes simultaneously, d first driving means tending to rotate said rotor about said first axis at a first angular velocity, e second driving means tending to rotate said rotor about said second axis at a second angular velocity appreciably greater than said first angular velocity, f said first and second driving means being cooperative for tending to rotate said rotor simultaneously about said first and second axes whereby the interrelation of said first and second moments of inertia and said first and second angular velocities compensates for mass unbalance effects of said rotor to provide an accurate spatial reference.

Claim 15

In an inertial device for accurately defining a spatial reference, a a gyroscopic rotor having a first axis of inertial symmetry defining a first moment of inertia and a second axis defining a second moment of inertia perpendicular to said first axis, b said rotor being inertially asymmetrical with its moment of inertia with respect to said second axis being greater than that with respect to said first axis, c said rotor being supported for rotation about said first and second axes simultaneously, d first driving means tending to rotate said rotor about said first axis at a first angular velocity, e second driving means tending to rotate said rotor about said second axis at a second angular velocity appreciably greater than said first angular velocity, f said first and second driving means being cooperative for tending to rotate said rotor simultaneously about said first and second axes whereby the interrelation of said first and second moments of inertia and said first and second angular velocities compensates for mass unbalance effects of said rotor to provide an accurate spatial reference.

Claim 16

In an inertial device of the character recited in claim 8 wherein said interrelation of said first and second moments of inertia and said first and second angular velocities causes said rotor to assume a position in the steady state condition wherein its angular momentum vector provides a spatial reference with respect to a predetermined axis, and means cooperative with said rotor for providing a signal representative of the relative movement of said predetermined axis and said spatial reference.

Claim 17

In an inertial device for accurately defining a spatial reference, a a gyroscopic rotor having a first axis of inertial symmetry defining a first moment of inertia and a second axis defining a second moment of inertia perpendicular to said first axis, b said rotor being inertially asymmetrical with its moment of inertia with respect to said second axis being greater than that with respect to said first axis, c said rotor being supported for rotation about said first and second axes simultaneously, d first driving means for driving about a third axis and tending to rotate said rotor about said first axis at a first angular velocity, e second driving means for driving about a fourth axis and tending to simultaneously rotate said rotor about said second axis at a second angular velocity appreciably greater than said first angular velocity, f said first and second moments of inertia and said first and second angular velocities being interrelated whereby initially said first and second axes are aligned with said third and fourth axes respectively and in the steady state condition, said first and second axes are displaced by a slight leaning angle from sAid third and fourth axes respectively for accurately defining said spatial reference.

Claim 18

In an inertial device for accurately defining a spatial reference, a a gyroscopic rotor having a first axis of inertial symmetry defining a first moment of inertia and a second axis defining a second moment of inertia perpendicular to said first axis, b said rotor being inertially asymmetrical with its moment of inertia with respect to said second axis being greater than that with respect to said first axis, c said rotor being supported for rotation about said first and second axes simultaneously, d first driving means for driving about a third axis and tending to rotate said rotor about said first axis at a first angular velocity, e second driving means for driving about a fourth axis and tending to simultaneously rotate said rotor about said second axis at a second angular velocity appreciably greater than said first angular velocity, f said first and second moments of inertia and said first and second angular velocities being interrelated whereby initially said first and second axes are aligned with said third and fourth axes respectively and in the steady state condition, said first and second axes are displaced by a slight leaning angle from sAid third and fourth axes respectively for accurately defining said spatial reference.

Claim 19

In an inertial device of the character recited in claim 10 wherein said interrelation is defined by the following equation

Claim 20

In an inertial device of the character recited in claim 10 wherein said spatial reference is the angular momentum vector of said rotor and in the steady state condition coincides with said fourth axis, and means cooperative with said rotor for providing a signal representative of the relative movement of said angular momentum vector and said fourth axis.

Claim 21

In gyroscopic apparatus, a a gyroscopic rotor having a first moment of inertia with respect to a first axis of inertial symmetry and a second moment of inertia with respect to a second axis perpendicular to said first axis, b said rotor being inertially asymmetrical with its moment of inertia with respect to said second axis being greater than that with respect to said first axis, c a first member for rotatably supporting said rotor, d a second member for rotatably supporting said first member for rotation about a third axis initially coincident with said first axis, e said second member being rotatably supported for rotation about a fourth axis initially coincident with said second axis, f first driving means for rotating said first member about said third axis at a first angular velocity whereby said rotor tends to be rotated about said first axis at said first angular velocity, g second driving means for simultaneously rotating said second member about said fourth axis at a second angular velocity appreciably greater than said first angular velocity whereby said rotor tends to be rotated about said second axis at said second angular velocity for accurately defining a spatial reference.

Claim 22

In gyroscopic apparatus, a a gyroscopic rotor having a first moment of inertia with respect to a first axis of inertial symmetry and a second moment of inertia with respect to a second axis perpendicular to said first axis, b said rotor being inertially asymmetrical with its moment of inertia with respect to said second axis being greater than that with respect to said first axis, c a first member for rotatably supporting said rotor, d a second member for rotatably supporting said first member for rotation about a third axis initially coincident with said first axis, e said second member being rotatably supported for rotation about a fourth axis initially coincident with said second axis, f first driving means for rotating said first member about said third axis at a first angular velocity whereby said rotor tends to be rotated about said first axis at said first angular velocity, g second driving means for simultaneously rotating said second member about said fourth axis at a second angular velocity appreciably greater than said first angular velocity whereby said rotor tends to be rotated about said second axis at said second angular velocity for accurately defining a spatial reference.

Claim 23

In gyroscopic apparatus as defined in claim 13 wherein said spatial reference normally coincides with said fourth axis and further including pick-off means having one portion mounted on said rotor and another portion mounted on said second member for sensing relative movement of said spatial reference and said fourth axis.

Claim 24

In gyroscopic apparatus as defined in claim 13 further including torquing means cooperative with said rotor for applying controlled coercive torques to said rotor.

Claim 25

In gyroscopic apparatus as defined in claim 13 in which said first and second members include hydrostatic fluid bearings for relatively positioning said first and second members and said rotor with respect to each other.

Claim 26

In gyroscopic apparatus as defined in claim 13 in which said first driving means tending to rotate said rotor about said first axis includes a fluid jet drive.