For aircraft in the air (such as airplanes, rockets, missiles, etc.), the direction and attitude during flight can be described by three angles: the up and down of the head of the aircraft (ie the rotation of the aircraft about a horizontal axis perpendicular to the direction of flight) ), can be expressed by the pitch angle; the left and right swing of the aircraft head (ie, the rotation around the vertical axis) can be represented by the yaw angle; the rotation of the aircraft about its own longitudinal axis can be represented by the roll angle. At least three gyroscopes are used for the three angles, that is, two gyroscopes that rotate around the vertical and horizontal axes. Due to the fixed axis of the high-speed rotor, the directions of the two axes remain unchanged regardless of the movement of the aircraft, so the two axes Can be used as a vertical and horizontal reference line. The above three angles can be measured by the angle between the inner and outer frames of the gyroscope and the corresponding axis and the base. For example, the roll angle and pitch angle of the aircraft can be based on The vertical reference line is measured by the gyroscope of the rotating shaft. The yaw angle can be measured according to the gyroscope with the horizontal reference line as the rotating shaft. The measured signal is transmitted to the computer system, and the command can be issued to correct the flight of the aircraft at any time. Direction and attitude.
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