Inertial unit with vibratory gyroscopes mounted on a carousel and angle measuring method

摘要

The unit has an inertial core (3) connected to a control unit (50) and including three gyros (9-11) that are mounted with respect to one another to have sensing axes (X-Z), which are perpendicular to one another. The gyros are vibrating axisymmetric gyros with hemispherical resonators. The core is mounted on a carousel (2) arranged to drive the core in rotation about a rotation axis at a predetermined frequency of rotation. The rotation axis is arranged such that the gyros have errors that appear at unidentical frequencies, which are not harmonics of one another. An independent claim is also included for an angle-measurement method.