Sensors and Methods for Mobile Robot Positioning P2

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Sensors and Methods for Mobile Robot Positioning P2

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Gyroscopic precession is a key factor involved in the concept of operation for the north-seeking gyrocompass, as will be discussed later. Friction in the support bearings, external influences, and small imbalances inherent in the construction of the rotor cause even the best mechanical gyros to drift with time. Typical systems employed in inertial navigation packages by the commercial airline industry may drift about 0.1 during a 6-hour flight [Martin, 1986]. 2.1.1 Space-Stable Gyroscopes The earth’s rotational velocity at any given point on the globe can be broken into two components: one that acts around an imaginary vertical axis normal to...

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