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1 1 Quoted by author Tom Pickens in “Doc Gyro and His Wonderful ‘Where Am I?’ Machine,” American Way Magazine, 1972.

2 2 Named after the Italian physician, inventor, and polymath Girolamo Cardano (1501–1576), who also invented what Americans call a “universal joint” and Europeans call a “Cardan shaft.”

3 3 The inertial rotation rate of the Earth was already quite well known, thanks to astronomers. Foucault was only using it to demonstrate gyroscopic physics.

4 4 An effect discovered by George Darwin, second son of Charles Darwin.

5 5 The vehicle dynamic model used for gyrocompass alignment filtering can be “tuned” to include the major resonance modes of the vehicle suspension.

6 6 The nautical mile was originally defined in the seventeenth century as the surface distance covered by one arc‐minute of latitude at sea level. However, because the Earth is not exactly spherical and latitude is measured with respect to the local vertical, this number varies from equator to pole from about 1843 m to about 1861 m.

7 7 Defined in Chapter 10.