| 摘要 |
A redundant inertial reference system is provided with four gyroscope units, with the spin axes of the gyroscopes in the units being oriented, respectively, perpendicular to the four faces of an equilateral tetrahedron. Incidentally, a tetrahedron is a four sided body, and an equilateral tetrahedron is a four sided body having equilateral triangles for the four sides. With the four gyroscopes mounted perpendicular to the four sides of an equilateral tetrahedron, each of the gyroscopes is located symmetrically with respect to the others, with an angle of approximately 109.4 degrees between the spin axes of the gyroscopes. The system is particularly applicable to strapdown type inertial guidance systems and can provide three dimensional orientation information even if two of the gyros fail. The system uses four gyro units, a minimum number which can accomplish a foregoing function, with the four gyro units arranged substantially symmetrically with respect to one another.
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