Gyro

1 | P a g e Ma r i n e G y r o c o mp a s s
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GYROCOMPASS essentially consists of a gyroscope. It works on the principle of law
of conservation of angular momentum.
GYROSCOPE:
A gyroscope consists of a mass in the form of a wheel or rotor which is suspended in
such a way that it is free to spin about an axis passing through its centre of mass and
perpendicular to the plane of the rotor. It is mounted on a circular ring in the same plane
as the SA. This ring is connected to a vertical ring at points at right angles to the SA in
such a manner so as to permit the SA to tilt about its HA ( in vertical plane) within the
VR. The VR is connected to an outer memeber at right angles to the HA so that the SA
can turn about its VA ( in horizontal plane).Ideally the spin axis bearings should be
frictionless so that any rotation imparted to the rotor is maintained.Let us say that
gyroscope is mounted on a circular ring in the same plane as the spin axis. This ring is
then connected to a vertical ring at points perpendicular to the spin axis so as to allow the
spin axis to tilt about its (rotors) horizontal axis. The vertical ring is connected to outer
member at points perpendicular to the horizontal axis, so as to allow movement of turn (
in azimuth) about its vertical axis. With this arrangement gyroscope is not constrained in
any way so as to alter the direction of spin axis. It is then said to have THREE
DEGREES OF FREEDOM (rotation, tilt and drift).
Gyroscope having three degrees of freedom is called FREE GYROSCOPE
EARTH is the best example of free gyroscope in nature, because:
It is freely suspended in space having no friction and thus having 3 degrees of freedom.
It is heavy and well balanced with the equatorial mass corresponding to the plane o a
rotor.
Earth rotates at considerably high speed about its speed (equivalent to spin axis of rotor)

GYROSCOPIC INERTIA:
A freely spinning gyroscope will maintain its axis of spin in the same direction wrt space
irrespective of how its supporting base is turned. It resists any attempt to change its
direction of spin. Thus a free gyroscope has high directional stability.This property is
called GYROSCOPIC INERTIA or RIGIDITY IN SPACE or DIRECTIONAL
STABILITY.
The gyroscopic inertia of a rotor can be quantitatively expressed by its angular
momentum (H). This will determine how much force is needed to change the direction in
which the spin axis points at a given rate. H depends on w (angular velocity) & I
(moment of inertia) and is given by: H= wI
I of the cross section expresses the moment that the mass of the rotor exerts about the
spin axis that is the axis of gyration of the rotor.This will determine how easy it is to
initiate the rotor into spinning or to change the angular velocity when it is already
spinning. I depends on mass of rotor and also distribution of mass about the spin axis.
Greater the proportion of mass which lies towards the
circumference of the rotor, greater will be the I and greater will be gyroscopic inertia for
any given w. For this reason, rotors,, rotors are designed with a heavy rim with a
relatively light internal construction sufficient to maintain the strength of the rotor.
When a gyroscope is spinning at a relatively high angular velocity the centrifugal force is
balanced by the equal and opposite force of the cohesion of particles of the rotor, free of
any other external forces, it will continue to spin with a constant velocity and point in the

same direction unless disturbed by some external force. This inherent property of a
gyroscope is known as gyroscopic inertia.

H = I w ,H = Angular moment um, I = M oment of I nert ia of t he cross
sect ion about , t he spin axis ( Kmr2) , W here, K = const ant ( depends on t he
rot ors mass dist ribut ion) , m = mass of t he rot or, r = radius of t he
rot or, w = Angular velocit y of t he rot or

Therefore higher the angular momentum more the gyroscopic inertia and better the
directional properties of the gyrocompass.
The two motions Dg and Tg are the result of gyroscopic inertia.

PRECESSION:
This phenomenon is found only in spinning bodies. It is the movement of the spin axis
when a force is applied to the spin axis of gyroscope. When a couple is applied about its
horizontal axis the spin axis will turn at right angles to the applied force in the direction
of the spin of the wheel. Similarly couple applied about the vertical axis will make the
spin axis turn about the horizontal axis in the direction of the spin axis of the wheel. This
property is called PRECESSION. P is the resultant of rotational motion of the body and
the T applied to its SA. The direction of P or the resultant of rotational motion and T is
such that the tangent to the circle of rotation ( representing rotational motion at any
instant) tends to chase the vector of T and tries to align itself with it.
If a torque is applied about the spin axis, G.I. will increase if
the torque is in the same direction as the spin of the wheel, but will decrease the G.I. if
torque opposes the direction of spin. T = IPS; or, Precession, P= T/SI OR P = applied
torque/ angular momentum
T= torque in Nm; S = speed in radians/sec; I = moment of inertia in kgmsquare
In brief, T in HP(about VA) , P in VP ( about HA )and vv

Both GI and P can b explained with the help of Newtons first law of motion.

Control Precession, Pc = B Sin tilt/H ( B is constant = W x h; W= weight, h= turning
arm)
Damping Precession, Pd= S Sin tilt/H(S is constant = W x l; W = weight, l = offset of wt
from VA)

The earth rotates about an axis through poles in 23h 56m 40.9s of solar time. This period
called sidereal day and may be divided into 24 siderial hours. If latitude of observer is
greater than polar distance of a body, the body will not set and will remain above rational
horizon.

24 sidereal hours = 23h 56m 04s solar hours = 23.934444 solar hours.


Solar time = sidereal time sidereal time /366 or = (sidereal time x 23.934444) / 24
Sidereal time = solar time + solar time/365 or = (solar time x 24) / 23.934444

BEHAVIOUR OF GYROSCOPE AT DIFFERENT PLACES:
AT POLES: Initially spin axis is kept horizontal. The axis maintains constant tilt and
drifts around the horizon @ 15 deg/hour. At N pole the drift is in clockwise direction and
at S pole it is in ACW direction. Thus in north latitudes the drift is eastwards and in south
latitudes the drift is westwards. This is particularly important in constructing the elliptical
path traced by undamped gravity controlled gyroscope. At poles lat is max T4 max rate of
Dg occurs at poles.
Thus rate of Dg = 15 deg Sin lat
AT POLES: Initially spin axis pointing at zenith i.e. at a tilt of 90. It will continue
pointing in the same direction with no tilt and drift.
AT EQUATOR: Spin axis initially pointing E. ( like a body at E on R.H. and zero
declination). There will be no drift and tilt will be maximum, changing @ 15/hour. The
azimuth will remain 090 and after meridian passage it will be 270, with tilting now
changing @ -15/hour
Thus Tg is max at equator i.e. zero lat. And min at poles ( 90 deg lat) Also when pointing
East Az is max = 90
AT EQUATOR: Spin axis initially pointing N. It will remain pointing there in N, with
drift and tilt both zero. Here Az is zero and Tg is also nil.
Thus rate of Tg = 15 deg Cos lat x Sin Az

For an observer at equator, all circles of declination cut the horizon at right angles so that
any body will, at the moment of rising, will be perpendicular to the horizon. It will then
spend 12 hours above the horizon before setting at which time it will again be moving
perpendicularly to the horizon. The point at which a star crosses the horizon is
determined by its declination. A star with dec zero, i.e. a star which lies on celestial
equator, will rise bearing E and will set bearing W. A star situated at the celestial pole
would have no motion relative to earths surface. A star with a dec. other than zero or 90
would cross the horizon perpendicularly with an amplitude = dec. The star would rise to
max altitude = its polar distance as it crosses the meridian. The azimuth will change
during its passage across the sky but at the moment of rising and setting the rate of
change of azimuth would be zero. A gyro spin axis which is set horizontal, therefore, will
have zero drifting irrespective of its azimuth. In general, drifting may be taken as zero at
the equator as long as tilt is small. As a gyro compass never attains a large tilt this
assumption is a reasonable. The rate of tilting will vary as the sine of azimuth.
Consider now an observer in intermediate northerly latitude. The
zenith will lie between celestial pole and celestial equator. For example consider 40 N.
The plane of the celestial equator is inclined to observers prime vertical by 40 and will
cut the horizon at an angle of 50.
The celestial pole lies 40 above the northern part of the horizon. As all circles of dec are
parallel to the C.E. they also will cut the horizon at an angle = the complement of
observers latitude.
This means that as a star crosses the horizon it will be changing its azimuth s well as
altitude.

The radius of the circle traced out with C.P. as centre will depend upon where
the spin axis is initially pointing.
If a free gyroscope is situated on the equator and lies with its axis east-west and
horizontal, it can be thought of as pointing to a star which has zero declination and is
about to rise. The east end of the gyroscope axis will follow the movement of this star
and will tilt upward as the star rises. After one sidereal day (23h 56m 04s) the gyroscope
will have tilted through 360 in 24 sidereal hours.

Maximum rate of tilting = 15 per hour

If the free gyroscope had been situated on the equator with its axis lying north south, the
north end would be lying towards the pole star and would then have no apparent
movement relative to the earth. The rate of tilting thus varies from 0 to 90.

Rate of tilting varies as the Sine of the Azimuth

A free gyroscope situated at a pole with its axis horizontal would have an apparent
turntable motion due to the earths rotation, i.e. it would follow a fixed star round the
horizon but it would not rise or set. The rate of tilting thus varies from a maximum when
the latitude is 0 to minimum when latitude is 90.

Rate of tilting varies as the cosine of latitude

Therefore we have the final conclusion:

Rate of tilting = 15 Sin (Azimuth) Cos (Latitude)

Drift

It is the apparent movement of a gyroscope in Azimuth.
A free gyroscope situated at the North Pole with its axis horizontal will have an apparent
movement, which is entirely in the horizontal plane. Its axis will appear to move in a
clockwise direction when viewed from above due to the real counter clockwise rotation
of the earth beneath. Thus the gyro drifts at 15 per hour.
A free gyroscope situated at the equator with its axis horizontal will not drift at all,
irrespective of whether its axis is set in the north-south or east-west direction. The rate of
drift for a gyroscope with its axis horizontal thus varies from a maximum at the poles to
zero at the equator. Thus rate of drift varies as the sine of the latitude.

Rate of drift = 15 Sin (Latitude) per hour


GYRO ADVANTAGES: High reliability; compact size; minimal siting constraints; small
errors; ability to run repeaters and provide a heading reference for other navigational
equipment.

Combined Drift & Tilt

At intermediate latitude between the equator and a pole, the apparent motion of a free
gyroscope consists partly of tilt and partly of drift. The above diagram shows the circular
path traced out by a star during a sidereal day, around the north celestial pole, as seen by
an observer facing the northern horizon.

Tg is zero when SA aligned with the meridian and Dg is zero when tilt of SA is same as
altitude of the pole i.e. when SA is pointing at the pole.

E of meridian- Tg upwards or +ve and vv
Below pole Dg eastwards or +ve and vvEllipse of undamped GCG has 2 components
Dg :oscillation in Az and Tg:oscillation in tilt.Both are interdependent. If one is made to
diappear the other will also go away.
E of meri Tg is upwards and vv. Tg is zero when SA aligned with meridian and Max tilt
occurs at this moment.
Dg is easterly when SA below the pole and vv. Dg is zero when tilt of SA = altitude of
pole = lat of observer.
Formulas for Dg and Tg have their limitations: These values are valid only at a particular
instant.Dg formula is valid only when Sa is reasonably horizontal and Tg keeps changing
with azimuth.
A G comp on board operates with a very small tilt. As alt of celestial pole = lat of
observer; in NH SA will operate with its N end of SA directed below the N pole. The Dg
T4 will always be easterly or +ve.

NEED TO CONTROL FG:
Thus the axis of a FG traces a circular path around the pole and keeps changing its
position under the influence of Tg and Dg. Thus FG is of no use for direction
determination. Thus a system is required, which can not only sense this movement but
also apply a force to control the movement due to Dg and Tg. The control is achieved by
arranging for a force to counteract the Dg. Earth's magnetic field or gravity are the two
forces readily available which can be used to control the FG. Mag field is used in
aircrafts to monitor the gyros. These are basically magnetic compasses and are subject to
deviations causedby magnetism of the aircraft itself. On ships however the earths gravity
is utilized for this purpose. This is done in two ways, known as top heavy effect and
bottom heavy effect. THE requires the rotor to rotate in ACW direction and BHE requires
CW spin, when viewed from south end.
Sperry compasses use THE with the help of liquid (Hg) ballistics. As the SA tilts from
the horizontal, Hg travels to the lower end making it heavier and pulls it down. COG of
the ballistic system falls out of the vertical. Weight of the transferred Hg acts downwards

under gravity causing the lowered end to be further pulled down and thus producing the
desired control precession, Pc.
Conventional Brown compasses using BHE with the help of liquid ballistic (using oil as
liquid, in which liquid is transferred from lower to higher side against gravity by air
pressure generated within the rotor case) and directing this pressure on to the oil surface
in the working bottles to force the oil up through connecting pipes to the higher bottles.
This model howvr is no longer manufactured. And modern Arma Brown compasses use
BHE effect with the help of torsion wires attached to the sensitive element.Twist in the
torsion wires generates the required force to produce the desired precession, similar to
one caused by BHE as the SA tilts from the horizontal.
Top-heavy control.
When the spin axis is horizontal the CG of the weight passes thru the center of the rotor
producing no torque. We deduce from earlier discussions that the spin axis of the gyro
will not remain horizontal. The earths rotation will tilt the spin axis. When the gyro axis
tilts the CG of the weight does not act thru the center of the rotor and this weight
produces a torque about the horizontal axis. This torque tends to take the spin axis
towards the meridian. This precession is called control precession.
The direction of spin of the rotor must be in such a direction as to produce a westerly
precession of the North end of the spin axis when that end is tilted upwards, and an
easterly precession of that end when it is tilted downwards.

PATH OF UNDAMPED GRAVITY CONTROL GYROSCOPE:
In UGCG the control weight (wx BH or TH) merely causes the N end of SA to precess to
westwards when above horizon and vv.
At equator: Path traced out by the N end of the SA is an ellipse, whose center is the N
point of the horizon.Or the major axis coicides with the horizon and the ellipse is
symmetrical about the horizon. This is bcoz the lat being zero, the drift is also zero. The
only vectors causing the mvmnt of the SA are Tg aand Pc The size of the ellipse will
depend on the azimuth on which the SA is set initially.If a heavier weight was used the
tilt of the SA when on the meridian ( ie lesser the minor axis) would have been less but
the amplitude of the E-W exremeties of the ellipse would not be affected.

Thus in gravity control gyroscope there are three vectors interacting with each other,
instead of just two vectors (Dg and Tg). While the two vectors resulted in a circular path
traced by the spin axis, centered about pole; the introduction of the third vector results in
an elliptical path. The third vector is control precession (Pc), which acts westwards, when
tilted upwards and eastwards when the axis is tilted downwards. This is true in both N
and S latitudes. And Tg acts upwards when east of meridian and downwards when west
of meridian.
Dg acts eastwards, throughout, in N lats and westwards, throughout, on S lats. For this
reason, in N lats the the major axis of the ellipse is above the horizon and in S lats, it is
below the horizon.And at equator, the major axis coincides with the horizon, since at
equator, the Dg is zero. And the only vectors at work are Tg and Pc.
In this elliptical path it is to be seen that, while the Dg vector remains same in size (15
Sin lat), but the Tg vector changes bcoz Tg also varies with Sin Az and Az is
continuously changing. Pc vector also changes in magnitude bcoz Pc is proportional to
Sin tilt.

In general greater the lat greater the Dg and the greater must be the tilt to give a Pc to
equal the Dg. The controlled ellipse is t4 lifted relative to the horizon in N lat and
depressed in S lat.
At the meridian Tg is nil, but angle of tilt is max, T4 Pc is also max. T4 SA moves west
across the meridian when above the horizon and vv.

Time taken to complete the ellipse depends on the degree of control ( relation between
Pc, which is proportional to Sin tilt and Dg which = 15deg Sin lat) provided, but is
always less than sidereal day.
Time period, T is given by = (2x22/7) u/root of (H/BE Cos lat), H is angular momentum
of the rotor, B is the ballistic constant, E is linear speed speed of the earth.
In commercial gyros this period is usually about 85 minutes. The size (amplitude of
oscillation) and shape (proportion of major and minor axes) depends on degree of control,
latitude and the initial starting position. In practice, the major axis is very large compared
to minor axis. At equator centre of the ellipse coincides with horizon, in N lats it is above
the horizon and in S lats it is below the horizon.
The amplitude of oscillation and shape of the ellipse depends upon : a) Latitude b) initial
position of SA c) Pc which in turn will depend on degree of control provided.
If SA is initially set pointing at N and horizontal, the ellipse would be wholly above the
horizon.Its centre would be at the same level as the settling level. At this level the
displacement of Hg is same at all the points ( which actually are only three points: left
and right extremes of SL or the major axis and point of intersection of meridian and SL)
At the extremes Pc balances the Dg. Thus if G is initially pointed to point of intersection
of SL and meridian at any lat, the displacement of Hg would be same as that for SL.
Further at meridian there is no tendency for Tg. Thus Pc will exactly balance the Dg and
in the absence of Tg SA will keep pointing to that point of intersection, called settling
point.The elevation of SP depends upon P which in turn depends on T, MOI of wheel ,
spinning speed and the lat. This SP is on horizon at equator, above horizon in NH and
below horizon in SH. In Sperry compass this SP is not more than few minutes of arc from
horizon
Thus at a given lat, ellipse size will vary dpending on the initial position of the SA, but
they all will be symmetrical about the same SL.
For a controlled G there will be one position where the CG will keep pointing there if set
initially there i.e. pointing N, with a tit that Pc exactly counteracts Dg. This will require a
+ve tilt in NH and vv in SH. This however will be valid only for that position and asa
position changes the axis will begin to trace an elliptical path.

.
Controlling the gyro by liquid ballistic

Practically the gyro is controlled using a liquid ballistic, mercury. Mercury flows between
pots in the north south axis under the influence of gravity when the gyro axis tilts out of
the horizontal. CG of the ballistic system must coincide with that of the rotor. The above

constitutes a top-heavy arrangement. The spin of the gyro axis is anticlockwise viewed
from the south.

DAMPING THE ELLIPSE:
.Gravity controlled gyroscope also cannot be used as a compass bcoz the axis does not
point along the meridian, but oscillates along the ellipse repeatedly. Thus some form of
damping is needed to damp these oscillations and make the axis settle in equilibrium
along the meridian. In damping, the controlled ellipse becomes a spiral inwards, towards
the equilibrium position, where the axis will settle and if disturbed from that position will
return to it.

This is achieved by one of the following:
1. Damping in Azimuth - Precession towards the meridian
Bottom hvy not subject to DE ( Lat E or SE)
2. Damping in Tilt - Precession towards the horizon - Top
hvy subject to DE (Lat E or SE)

The gravity controlled gyro never settles on the meridian. It keeps oscillating about the
meridian. The gyro finally settles in a position where all forces balance out each other,
i.e. Drifting & Control precession, Tilting & Damping precession

DAMPING IN TILT:
This method used in Sperry type compasses. Rotor casing is supported in a VR which
surrounds the casing in E-W plane. This VR itself tilts about the HA in EW bearings,
when the rotor tilts, becoz the rotor is supported within the VR by bearings in the VA. So
when the rotor tilts, VR must tilt also. The offset method of damping (damping in tilt)
requires this nominal VA to tilt out of vertical. When horizontal, this damping weight
has no effect. However when it tilts the DW exerts T about VA causing Pd. T applied abt
VA so as to cause downward P when NA tilted upwards and upward P when NA is tilted
downward. The idea is to produce the damping precession, Pd, which tries to bring the
SA always towards the horizon.In other words Pd opposes the tilting when SA is moving
away from the horizon (ie when SA is E of meridian and above the horizon and when
west of meridian and below the horizon); and supports the tilting when SA is moving
towards the horizon ( ie when SA is W of meridian and above the horizon and when SA
is E of meridian and below the horizon). At a point before the meridian, Pd and Tg will
cancel each other out; so that the path of the SA will be horizontal before reaching the
meridian. Between this point and meridian Pd will be more than Tg so that meridian is
crossed at downward angle. ASA SA is W of meridian, Tg becomes downward.As a
result each time SA comes back to the level of settling, the level at which Dg = Pc, the
Az must reduce. After a no. of oscillations, it will reduce to zero.For this MB (mercury
ballistic) attached slightly E of the centre instead of placing exactly below the bottom.
This provides T abt VA and the desired P. This gives spiral path. The spiral path is
repeated and then the axle comes to rest. Shape of the spiral depends on ratio between T
abt HA and the corresponding T produced abt VA due to eccentric attachment of the MB.
In all Sperry comps ratio arranged to give damping %age of 66.67% each time. ie
amplitude of swing is reduced by 66.67% on each cycle. Gyroscope settles in about 3
cycles, if initial displacement is NMT 20 deg.

DAMPING IN AZIMUTH:
Amplitude of successive oscillations is reduced by P in Az, i.e. by P towards meridian.
Such Pd is similar to Pc, but must act with Pc when towards meridian and opposite when
Pc is acting away from meridian. Pd in Az must be created in similar way to Pc i.e. by T
about HA. However P created only by gravity is not suitable as its direction will depend
only on weather tilt is up or down. Such Pd will only modify the rate of Pc but would not
achieve damping. What we need is a Pd that is always directed towards meridian. This is
achieved by creating T about HA and P in Az by flow of liquid under the flow of g when
the SA tilts, but causing a lag between cause and effect by introducing a restriction to
the flow. The action of ballistic is then out of phase with the tilt which cause the flow.
Damping in Az is used in compasses with BHE. So when viewed from S rotation of rotor
is CW. While Pc is produced by BHE, Pd is produced by THE. The resulting precessions
are t4 in opposite directions.

SPIRAL PATH OF DAMPED GYROSCOPE:
Spiral path is traced as a result of interaction of Dg, Tg, Pc and Pd causing the SA to
settle in equilibrium position. Initially at 1, when SA is horizontal, there is neither Pc nor
Pd. The end immediately acquires a +ve tilt due to earths rotation. It will also drift to E.
Immediately Pc and and small qtty of Pd will be introduced. Pc reduces Dg and Pd
counteracts Tg. At 2 tilt has increased to value where Pc = Dg. The Ely Dg ceases here.
The movement will be vertical at this point under the influence of Tg which is max at this
point. The rate of tilting will however be reduced by Pd. As tilt increases so do the Pc and
Pd. Pc is now greater than Dg and SA moves towards meridian. This means the rate of Tg
is reducing while the Pd is increasing. Thus a point comes before the meridian, where Tg
= Pd and the max tilt is reached at this point and will be reducing westwards, causing the
meridian to be crossed at a lower tilt (than the tilt at meridian in case of ellipse). As the
NA moves W of meridian Tg is now downwards (while tilt is still up) and Pd also acts
down pulling SA rapidly towards horizon. Due to this action of Pd, amplitude of
oscillation is considerably reduced. Max W Az is reached at 4, where again Pc = Dg and
SA will move back to E towards meridian under the influence of all four vectors. Pc and
Pd become zero asa the SA becomes horizontal again. Below horizon Tg is downwards
and Pd becomes upwards. Here again a point is reached where Tg = Pd, before the
merdian itself. Then SA moves eastwards rapidly under the influence of Dg and Pc and
cuts the meridian at lower downward tilt. Consequently with each half cycle the
oscillation is damped or amp of the oscillation is reduced. Thus each time SA comes to
settling level ( where Dg=Pc), the Az must reduce. After a no. of oscillations it is reduced
to zero.
The degree of damping is expressed by D.F. This is defined as ratio of total swing in Az
on two successive half cycles.

OPERATIONAL ERRORS OF THE GYRO

1. Latitude error (Damping error)
2. Course & Speed error (Steaming error)
3. First rolling error
4. Inter cardinal rolling error

5. Ballistic deflection
6. Ballistic tilt
Latitude error (Damping error or settling error) (corrected by Aux Lat correcter,
which shifts the LL)

The spin axis reaches equilibrium and settles in a position at which drifting is
counteracted by control precession & the damping precession counteracts tilting.
Since for any latitude except the equator there will always be a drifting given by 15 Sin
(Lat) per minute.Because of this drift there will be control precession this requires an
upward tilt of the north end of the gyro axis and hence a damping precession in tilt.
Therefore the spin axis of the gyro settles off the meridian & slightly tilted, where all the
forces balance out. That is Dg = Pc and Tg = Pd
In N lat this posn is slightly abv the horizon and E of the meridian and vv.
This error can be calculated for lat and applied manually.In Sperry compss this posn is
never more than 3deg in azimuth and is error is allowed for by moving LL by means of
aux lat corrector.Tilt is very slight varying from 4 mins of arc at 60 deg lat to zero at
equator, and can be ignored.
This error occurs only in GCs damped in tilt and not in compss damped in Az
Sin DE = K Tan Lat

In case of Arma Brown compass a signal is injected into the tilt servo motor system
producing a P in in azimuth eual but opposite to drift rate. The strength of the injected
signal is determined by control knob which can be set to desired latitude.

Formula for Latitude error

At the settling position:
Drifting = Control precession
Tilting = Damping precession

Thus: SinAz = Tan lat/40 ( in Sperry compass eccentricity = 1/40)
Since Az is very small, we have: Az(radians) = Tan lat/40
Or, Az(degrees) = 57.3 Tan lat/40 = 1.43 Tan lat
Thus Azimuth (DE or SE or LE) = K Tan Lat (where K=constant, about 1.43 in
Sperry Compass)

And Tan tilt = Cot lat Sin Az/40
Lat error and BT are both due to the eccentricity of the pivot of the DW ( offset of the
MB cone bearing). 1/40 means Pd is about 1/40th of Pc giving the required damping
%age of 66.67%

Course & Speed error (Steaming error)

Accurate indication of TN by a marine GC is dependent upon sensing of E-W plane as
indicated by rotation of the earth and the tue vertical as indicated by earth's gravity. If
subjected to other velocities / accelerations , these will also be sensed and the true E-W

plane of earth's rotation and vertical g will be affected of SA of GC comes to rest at rt
angles to the direction in which it is being carried. While at rest it is being carried E due
to rotation of earth. On courses, having N-S component the direction of earths rotation
appears to be a resultant of vessels course and the original E-W rotation. G is carried
along this resultant vector and its axle also points in a direction perpendicular to it. This
direction is W of TN on northerly courses and E of TN on southerly courses.
This error is independent of the design of the compass and is the same for all types of
compasses for a given course & speed for a particular Latitude.
Error = V Cos co/ (900 Cos lat + V Sin co)

The Course, Latitude & Speed errors are corrected by various means as per the design:

1. To be allowed for by the navigator from the supplied tables or by
calculation
2. This error can be allowed for by a corrector mechanism which can
be adjusted for ships speed and latitude.The correction is made to the position
of the LL and is made to vary as the cosine of ships course by means of a
cam which runs in a cosine grove cut beneath the compass card.
3. In Arma Brown compasses this error is eliminated by injecting a
signal into the azimuth servo motor system so that the twist is produced in the
vertical torsion wires.The resultant tilt of the gyro ball in tilt is eual and
opposite to the rate of tiltingdue to N-S component of ships speed and the
tilting sensed by the pendulum is that due to earths rotation only. The
strength of the signal injected into the azimuth servo motor is determined by
setting a speed control and by an input from the Tx which varies the signal as
the cosine of ships course.

Ballistic Deflection

BD is a P which results from accelerations imparted to compass by change in speed
and/or course of the vessel, It is an error caused by the precession imparted to the
compass by a N-S change in speed and / or course of the vessel. If vessel going on North
course alters course to 090, there will be surge of Hg from S pots to N pots, as governed
by Newtons first law of motion. As the rotor is spinning ACW, precession will be
caused towards East, which is opposite of westerly CSLE when the vessel was initially
going on Northerly course. On settling on new course the Hg level regains its natural
level, but as long as the acceleration exists the error also exists. This known as BD and
depends on free surface of Hg and the amount of change in the N-S component of
vessels motion. It is independent of the latitude and thus can be made exactly equal to
change in CSLE. But CSLE varies with latitude. Hence BD is usually made equal to
change in CSLE for standard latitude, usually 45. It is found that for making BD =
change in CSLE, the time period of undamped gyroscope i.e. the ellipse (given by T =
2pi u/root R/g, where R is radius of earth) T has to be 84.7 mins.

R= 6378388 m, g =9.81 m/s sq
BD is a product of BP and the time it operates for. Thus for a given compass the BD
produced will be same in all lats. But speed error increases with lat, so the amount of SE

for a given change of Nly speed increases with lat. Thus BD can be made = SE in one lat.
Lat chosen is 45 deg. For other lats the difference is small enough to be tolerable.BD is
independent of latitude.

Alteration of course towards N or increase in Nly speed or decrease in Sly speed means:
Northerly (+ve) acceleration (means Hg flows to S pots) produces a westerly (-ve)
change in azimuth.
Alteration of course towards S or increase in Sly speed or decrease in Nly speed
means: Southerly (-ve) acceleration (means Hg flows to N pots) produces an easterly
(+ve) change in azimuth.

These accelearations cause a false V and hence false Horizontal. The false vertical is the
rwsultant of the acceleration due to gravity and that due to vessels change of motion.The
control element remains in the true horizontal due to gyroscopic inertia, but the liquid
senses false horizontal and flows to cause N or S heaviness. The control elment remains
in the tue vertical due gyroscopic inertia but liquid associates itself with false vertical and
flows to produce N or S heaviness. N heaviness gives E'ly precession and vv.The rate of
P is proportional to acceleration causing it. The P continues for ALA the accel continues,
so that for a given accel of speed and/or course the total change in az will be constant,
irrespective of the rate at which the manuvr is carried out.
BD = P x time = tilt x B x t/H = B x a x t /g x h ( Tan tilt = a/g or tilt (radians) = a/g)
Now, B a t V1CosCo1 - V2 CosCo2
-------- = ---------------------------- ' substituting a = (V1CosCo1 - V2 CosCo2) /t ,
we have:
H g Rw Cos Lat
B /Hg = 1 / Rw Cos Lat ie R/g = H/Bw Cos Lat

This problem does not exist in Arma Brown compass.

Ballistic Tilt
BT is result of BD. BD is P in Az and BT is P in tilt.
Surge of Hg also causes a torque about VA because of the eccentricity of the MB
arrangement.

A southerly acceleration causes north end to precess upwards.
A northerly acceleration causes north end to precess downwards.

Thus the axis arrives at the new settling azimuth slightly displaced in tilt from the settling
position. The compass will therefore need to execute a small damped spiral until the axis
truly settles.
DE and BT are both due to the eccentricity of the pivot of the MB. If eccentricity
reduced, both DE and wander due to BT will be reduced. The necessity for keeping the
BT small, places a limit on damping %age which can be achieved. A damping %age of
66.67% is chosen with this in mind. Having BT made small, no attempt is made to make
any further compensation for it.

ROLLING ERROR:
If an unsymmetrical pendulum ( e.g. a ring) is tied as a bob and set oscillating, it would
be found that it tends to align so as to have the max MOI lying in the plane of the swing.
The MOI of a ring is greater about an axis than about a diameter. Thus when vessel is
rolling and the gyroscope is swinging like a pendulum in gimbals, a torque is produced
about the VA tending to turn the plane of the plane of the vertical ring into the plane of
the swing. This T will cause P in tilt and a subsequent wander of the compass.
In Sperry compasses this is prevented by compensator weights, called quadrantal weights
attached on each side of the VR so that the MOI of the rotor is same in all directions
about the vertical axis.

In AB compasses control and damping is by electrical signals and torsion wires and no
gravitational controls are attached to the gyroscope. A further source of rolling error can
develop if sensitive element has unequal MOIs about N-S and E-W axes. This is
prevented by spherical shape of the gyro ball.

INTERCARDINAL ROLLING ERROR:
It is a combination of two effects. When vessel rolls on an E-W course, gyroscope swings
in N-S plane in its gimbals and vv.Swing in N-S plane causes Hg to surge to and fro
between the Hg pots, though inertia keeps the rotor and pots stable wrt the horizontal.
Since the surge is equal and opposite with the alternate N and S swing, horizontal P
produced are also equal and opposite on each successive swing and no error is allowed to
accumulate.
When on N-S course the swing is in E-W plane. There is no surge of Hg but the link
attachment (between rotor casing and MB) shifts alternately between eastwards and
westwards. We know that the link is deliberately offset to provide the damping T about
the VA. The alternate E and W swing thus results in the DT being alternately greater than
and less than the desired value. Here also, the average value is not affected and the
settling position is not disturbed.
Now consider vessel rolling in NE course. The swing will be in NW and SE plane. Both
the effects will be seen now. Hg will surge and the link also will be shifted. On NW
swing Hg will surge to N pots and link will be carried westwards and vv on SE swing.

This error is approximately corrected by restricting the bore of the tubes connecting the
Hg bottles, so that the surge of Hg lags about a quarter of period behind the roll.

GENERIC GYROCOMPASS:
SENSITIVE ELEMENT: consists of rotor and casing supported in the VR and the
compensator weights that give the SE equal moments OI about 2 principle Has

PHANTOM RING: supports the SE and is kept continually aligned with it so that the
wire suspension of SE does not become twisted. It also carries the stem, slip rings, Az
gear and compass card. It is through the Az gear that the phantom ring is aligned with the
SE and by means of which the magslips are rotated to transmit the compass heading.


MERCURY BOXES: are suspended from PR. Any thrust caused by N-S, out of balance
of the MBs is applied to the bottom of the casing by means of rods and pivot cups.

THE SPIDER: is an iron casing which supports the PR and SE by means of stem
bearings. The S is held in fixed relation to the FnA line of the ship and can rotate freely
about the PR as the ship changes course. Attached to the S are follow up motor, which
aligns the PR with SE, together with the fine and coarse magslip housings and gearings.

GIMBAL RING: is an octaganol steel ring which supports te S and gimbals the compass
in direction of pitch axis.

BINNACLE RING: is the outermost ring inside which the GR is pivoted in roll axis.
Dampers are also fitted.

ANTI SHOCKING MOUNTING: is not exactly part of compass, is fitted to minimize
shock and vibrations.

WHY GYRO LESS EFFECTIVE AT HIGHER LATS: I should be noted that efficacy of
top hvy control in causing Pc depends on rate of Tg which decreases away from equator
until it is zero at poles.Hence sensitivity and accuracy of GC is greatly reduced in lats 70
and above.

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