Mathematical Model of Gyroscope with Contactless Suspended Rotor and Three-component Accelerometer for Solving Problems of Autonomous Autonomous Navigation

The problem of creating a mathematical model of a free three-degree gyroscope with a contactless suspended rotor and a three-component accelerometer for solving problems of high-precision autonomous navigation is solved. The problem under consideration includes determination of kinematic relations of the gyro device and solution of a direct problem for finding navigation parameters for a stationary base. The suspension system of these gyroscopes is practically indifferent to the environment in which the gyro operates, but in order to reduce braking moments, the gyro rotor is placed in a vacuum chamber. The given structure of vector relationships between coordinate systems and model parameters allows us to write down several groups of equations regarding the angular positions of the gyro rotor and its angular velocities.