Читать книгу Global Navigation Satellite Systems, Inertial Navigation, and Integration - Mohinder S. Grewal - Страница 79

Foucault's 1852 gyroscope was mounted inside two sets of gimbals that freed its spin axis to remain pointing in a fixed inertial direction, held there by the conservation of angular momentum in inertial coordinates. Electrostatic gyroscopes have spherical rotors supported by electrostatic forces inside spherical suspension cavities, which gives their spin axes freedom to remain in fixed inertial directions. These are called whole‐angle gyroscopes, and they can use the directions of their spin axes as inertial reference directions.