Turn-rate system for gyroscopic devices including means for generating the rate signals by electrically processing gyroscope shaft angle

A heading reference system for a movable craft comprising:

• a. an inertial, directional reference means which has a stable orientation in space,
• b. a rotatable output heading shaft,
• c. a servoloop responsive to the relative orientation in azimuth between the craft and said directional reference means for driving said heading shaft in response to turning of the craft,
• d. slaving control means for correcting the orientation of said directional reference means upon departure of said directional reference means from a predetermind orientation in azimuth,
• e. signal processing means for receiving signals from said directional reference means which are representative of angular heading including means for converting said angular signals to signals proportional to the sine and cosine of the heading angle, means for differentiating the signals proportional to the sine and cosine of the heading angle, means for squaring the differentiated signals, and vector summing means for extracting the square root of the sum of the squared differentiated signals for producing an angular rate signal which is proportional to the rate at which the craft is turning,
• f. means responsive to said angular rate of change signal for interrupting the operation of said slaving control means when the craft rate of turn exceeds a pedetermined level.

An attitude reference system for a movable craft comprising:

• a. an inertial, directional reference means which has a stable orientation in space,
• b. a rotatable output heading shaft,
• c. a servoloop responsive to the relative orientation in azimuth between the craft and said directional reference means for driving said heading shaft in response to the turn of the craft,
• d. an inertial reference means which has a stable orientation in space,
• e. slaving control means for correcting the orientation of said vertical reference means upon departure of said vertical reference means from a true vertical orientation,
• f. signal processing means for receiving signals from said directional reference means which are representative of angular heading, including means for converting said angular signals to signals proportional to the sine and cosine of the heading angle, means for differentiating the signals proportional to the sine and cosine of the heading angle, means for squaring the said differentiated signals, and vector summing means for extracting the square root of the sum of the squared, differentiated signals for producing an angular rate signal which varies with the craft rate of turn, and,
• g. means responsive to said angular rate of change signal for interrupting the operation of said slaving control means for said vertical reference means when the craft rate of turn exceeds a predetermined level.