Gyrocompass

A gyrocompass, comprising:

• a binnacle adapted to be fixedly mounted on a navigation vehicle;
• a gyro case having a gyro rotor contained therein;
• a vertical ring mounted on the binnacle for rotation about a vertical axis, the vertical axis extending perpendicular to a gimbal axis and to a horizontal axis, wherein the gimbal axis extends in a direction of a spin axis of the gyro rotor and the horizontal axis extends perpendicular to the gimbal axis and parallel to a horizontal plane;
• a horizontal ring which is either (i) supported by the vertical ring for rotation about the gimbal axis and supporting the gyro case for rotation about the horizontal axis or (ii) supported by the vertical ring for rotation about the horizontal axis and supporting the gyro case for rotation about the gimbal axis;
• a horizontal-axis-rotation torquer for rotating the gyro case about the horizontal axis;
• and
• a vertical-axis-rotation torquer directly mounted on the vertical ring for rotating the vertical ring about the vertical axis.