Guidance Systems Division
GEC Avionics Limited comprises a group of divisions situated at Rochester, Borehamwood, Basildon, Milton Keynes and Nailsea, specialising in all aspects of aviation instrumentation and control. The Guidance Systems Division situated at Rochester is responsible for the development and production of precision gyros, accelerometers, sensor assemblies, Strapdown Attitude Reference and Navigation Systems including Power Supplies, Output Processing Electronics and Computing.
GI-G6 Gyro
In line with GEC Avionics policy, developing technology has produced extremely successful Strapdown Inertial Reference Systems, and future design requirements for programmes of the 80's and 90's, dictate the need for the G 1- G6 precision single axis torque Subminiature Rate Integrating Gyroscope.
Introduced in 1970, this gyroscope has become a designer's standard. Its high performance and reliability under adverse environments, and its ability to be produced at low cost have enabled it to be specified on many US and European programs. It is estimated that the GI-G6 supplies more than two thirds of the entire US market for subminiature rate integrating gyros.
European applications associated with the GI-G6 Gyro include the stabilisation of shipborne communication antennae, weapon aiming systems for aircraft, ships, tanks and missiles, advanced fly- by-wire flight controls, guidance systems for underwater weapons and navigation systems for land vehicles.
Many different models of the basic GI-G6 Gyro have been built to satisfy the varying application requirements of our customers. Some models feature very low drift rates - between 10' and 15' /hr over a temperature range of about 100' F (55' C). Some are capable of performing at around l ' /hr when kept at a constant temperature and under steady state conditions such as exist in a gimballed platform. Other models are designed to operate over temperature ranges of up to 300' F (149' C) with a drift rate of between 10' & 20' /hr.
Chafing Cross
River Medway
Margale
A2
Dover
N
t Folkestone
A20
Hastings
Gyro Selection
Gyro selection is usually a compromise between performance and cost. Obviously the best gyro will have optimum features in all of its subcomponent elements, ie, spin motor, torquer, damping etc., but for a given application certain best features may, conflict with those of others. For instance, a larger angular momentum wheel clearly gives superior drift performance, but time taken to reach synchronisation, and/or cost to incorporate a new spin motor into the gyro assembly may be unacceptable.
An important aspect of this selection process is a thorough discussion with the gyro manufacturer during the establishment of the system error budget. Such discussion often reveals for instance, that the system will allow for the use of an existing gyro that is produced on the assembly line in large quantities, and can therefore be procured at substantially less cost than if it had to be tailored to a prespecified set of conditions. It is therefore most advantageous to consider cost driving factors during the early phases of system design.
Typical GI-G6 performance characteristics are given in the following pages. These models have in common many of the sub-components previously mentioned, and in general use the same assembly and test facilities, thereby keeping costs to a minimum.
Various specifications are available on request and we would be pleased to quote against your specific requirements. For further information please contact the Guidance Systems Division Sales Office.
Output Axis
Output Axis Bearings
Motor
Input Axis
6 po,;I;,.
I Rolol;oo
G Spin ReI
Ax is
Bellows
Damping Control
Typical GI-G6 Characteristics
Parameter Units
Spin Motor Vollage Volts RMS
Frequency Hz
Power
Slart
Run
Angular Momentum gm -cm2/ sec.
Sync Time, Room Temp sec.
Signal Generator Vollage Volts RMS
Frequency Hz
Load Ohms
Phase Shift deg.
Sensitivity VoltS/rad.
Null mV (max.)
Torque Generator Maximum Torquing Rate
Continuous °/ sec.
Intermittent °/ sec.
Resistance Ohms
Scale Factor o/ sec/ mA
Linearity %
Gyro Performance Transfer Function Volts/ fad.
Time Constant msec.
lA Freedom ± deg
Drift Rates - Maximum
G-Insensitive "/ hr.
G-Sensitive o/ hr/ g
Anisoelastic o/ hr/ r/
Noise pIad.(max.)
Environments Operating Temperature of
Shock g, msec.
Vibrat ion 9 RMS
Hz
310C
27.4
400
4.5W
3.5W
32,000
60
10
4800
10 k
± 7
24
10
75
20 0
145
1.0
0.1
11 .5
1.0
2 -3
27
25
1.8
6 (10 240 Hz)
-5010+240
100, 11
38
20-2000
65781CI E
26
400
3.8W
3.5W
18,500
10
8
4000
lOk
±5
29.5
10
125
200
50
0.6
0.1
17.9
1.0
0.6-1.2
40
40
4
6(10 240 Hz)
- 5010+212
50, 11
19.2
10-2000
650C
52/26
400 + 3%
25W
3W
18,500
6
10± 5%
4800 ± 3%
10k
+ 5 ± 7
29
25
75
60 0
60
0.6 ± 1%
23± 25%
1.1
72
65
3.6
15
-5010 +240
50,11
20
20-2000
650E
26
400
sw 4W
18,500
30
8
5000
10 k
± 10
23
5
105
200
50
0.6 ± 5%
0.03"/sec. or 0.25%
18 ± 15%
1.0
2
40
30
2
15
- 25 10 + 165
50 , 11
20
20 -2000
65 1 N J
26
800
sw 4W
25,500
20
8
4800
10 k
±10
19
5
105
200
45
0.4
0.25
14
1.25
2 - 3
40
30
2
6 (10 240 Hz)
-5010 + 200
100, 11
30
20 -2000
6518
30
400
sw 4W
32 ,000
30
8
4800
10k
±10
19
5
105
200
108
1.25
0.25
19
1.25
2 - 3
40
30
2
6(10240 Hz)
- 5010 + 200
100, 11
30
20 -2000
65 10
30
400
sw 4 W
32,000
20
8
4800
10k
± 10
19
5
105
200
105
1.2
0.25
19
1.25
0.7
40
30
2
15
-50 10 + 200
100, 11
30
20 -2000
651 E
30
400
sw 4W
32,000
20
8
4800
10k
± 10
19
5
105
200
105
1.2
0.25
19
1.0
40
30
2
15
- 50 10+200
100, 11
30
20 -2000
653A
26
400
sw 4W
32,000
30
8
4000
10k
± 12
29.5
10
75
60
0.35
0.25
18
1.1
0.9- 1.8
30
25
2
6 (10240 Hz)
- 5010 +200
100, 11
30
20 -2000
654A
19 .4
400
sw 3.5W
11 ,000
12
10
3840
952
0+5
12.3
10
200
230
2.0
2.5
0.5
0.35- 1.2
60
50
2
15
+3210 + 122
50, 11
22
20 -2000
3408
26
800
4.5W
2.5W
32,000
60
342A
26±3%
400 ± 5
3.5W
3W
32,000
10
2 4.5
3280 400
1Ok, 0.027 I'F lOk
± 35 +72
7.5 3.6
5 10
40 75
150
100 85
1.0 0.63
0.5
7.5 3.4
1.0 1.25± 35%
1.0-2.0 2
54 25
36 25
1.8 2
6 (10240 Hz) 15
+4010 + 160 - 40 10+ 160
50, 11 50, 11
22 22
20 -2000 20 -2000
Note 1
This specificat ion data lists typical customer requirements for the G , - G6 gyro, and therefore some mode ls a re capable of ac hieving a higher pe rforma nce tha n that stated here. Where the gyro is used in a microprocessor based system, considerable performance improveme nts can be made by the use of digita l characterisation tec hniq ues. To date some 180 variants of this sensor have bee n produced covering a wide range of applica tions a nd specification requirements. Min imum costs and de livery time can therefore be achieved by se lecting from those gyros curre ntly in volume production. For further information please contact the Gu idance Systems Division Sales Office.
Note 2 The GI-G6 -031 variant refers to a long life, low noise gas bearing spin motor gyro.
Design Notes
• Minimum noise performance is ensu red by :-(1) Sine wave drive to the spin motor (2) Driving the signal generator with a
high RMS voltage which reduces subsequent capture loop gain requirements
• Performance over temperature range High angular momentum, high rate range and high performance G 1- G6 gyros employ Samarium Cobalt magnets in the torque generator. To offset the variation of magnet performance with temperature, compensating networks are fitted into the gyro
• Signal Generator The signal generator is optimised for operation at 4 .8 kHz and-provides minimum phase shift at this frequency. However operation over the range 400Hz to 12.8 kHz is possible
• Mounting Flange Index notch aligned to input axis to within 3 milliradians as standard. Higher accuracy optional
• Lead/ Pin Functions Two phase motor.
Pin No. Function
1 Torquer Hi 2 Torquer Lo 3 Microsyn Pri H i 4 Microsyn Pri La 5 Molor-Iead </>A 6 Motor-common 7 Microsyn Sec Hi 8 Microsyn Sec La 9 Molor- </> B 10 Case-ground 11 12
Typical GI·G6 Characteristics
Parameter Units
Spin Motor Vollage VolIs RMS
Frequency Hz
Power
Slart
Run
Angular Momentum gm-cm2/ sec.
Sync Time, Room Temp sec.
Signal Generator Voltage
Frequency
Load
Phase Shift
Sensitivity
Null
Torque Generator Maximum Torquing Rate
Continuous
Intermittent
Resistance
Scale Factor
linearity
Gyro Performance Transfer Function
Time Constant
lA Freedom
Drift Rates - Maximum
G·I nsensitive
G-Sensitive
Anisoelastic
Noise
Environments Operating Temperature
Shock
Vibration
Volls RMS
Hz
Ohms
deg.
VolIS/rad.
mV(max.J
a/sec. o/sec.
Ohms
°/ secl mA
%
VolIS/rad.
msec.
±deg
"/ hr.
"/hr/g
"/ hr/ r!
!'fad.(max.)
g, msec.
gRMS
Hz
343A
70
900
600mA
400mA
36,000
10
20
4000
10k, 500 pF
±5
46
20
60
100
50
0.6
0.1
17.2
1.05
0.5-3.0
12
18
0.3
6 (10 500Hz)
- 30 10 +165
50, 11
10
5-500
346A
24/ 12
1600
16.5W
0.9W
50,850
6
8
4800
10k
O± 10
19
5
60
45
0.35 ± 1%
0.2
19
0.75± 30%
10
10
2
15
010+118
100,11
15
20-2000
321A
7.0
900
600mA
400mA
57 ,200
60
20
4000
10k, 500pF
±3
24
10
60
90
108
0.6
1.0
10
0.6 Nom.
2-3
12
18
0.3
6(10500 Hz)
-5010+220
80, 11
10
20-2000
321C
7.0
800
SW
4W
51 ,000
30
8
9600
10k
- 18
19
10
75
100
108
0.6
0.2
12
0.6
2-3
15
15
10 (10 450 Hz)
-6710+149
80,11
10
20 -2000
321E
7.0
900
7W
4W
57,200
30
8
9000
10k
±5
8
6
60
75
108
0.8
0.1
8
0.5
2-3
10
10
10(10150 Hz)
+4110+167
80, 11
10
20-2000
321F
7.0
900
SW
3W
57,200
30
8
9000
10k
±7
B
6
60
75
130 max.
0.6
0.1
8
1.0
2-3
15
15
0.5
10 (10 2000 Hz)
+32 10+131
80, 11
10
20 -2000
321G
'\ 7.0 787.5
J
6Wmax.
50,050
30
B± 10%
3937.5± 2%
10k
O± 10
10
60
lOB
0.834± 10%
15±20%
1.2±20%
2-3
40
12
0.5
15
-2010+ 136
80, 11
10
20 -2000
321H
7.0± 0.5
900± 0.5%
7W
4W
57 ,200
30
8± 1.0%
9000
10k
0±5
8
6
60
75
125 rnax.
0.6± 1%
0.1
8± 10%
1.0± 10%
2-3
10
15
10(101-2000 Hz)
-6510+167
80,11
10
20-2000
337A
12
800
2.7W
1.3 W
12,750
15
4
3200
IOk
0±5
9
10
400
800
346
6.0
0.05"/sec orO.5%
3.5
1.05± 35%
2-3
50
60
2
15
+ 40 10 +160
80,1 1
10
20-2000
3208
28.5/13.0
1488
1400 mA
170mA
20,500
1.75
5
5950
10k
± 10
10-15
2
60
260
35
0.4
0.05
4.0
0.75
3-6
35
25
0.4
6(10500 Hz)
+4510+125
100,6
12.3
20-2000
320C
28/ 13
1488
1600 mA
170 mA
20,500
1.75
5
5950
10k
±10
12.5
2
60
150
35
0.4
0.05
4.0
0.75
3-6
25
15
0.4
6 (10 500 Hz)
+4010 +140
100, 6
12.3
20-2000
3258
42/35
3200
8.5W
2.1 W
24,600
B
3.75
4800
10k
±10
9
20
30
N/A
4.2
0.1
0. 1
40
6
0.5
8
8
0.2
6(10500 Hz)
+170
50, 11
8
20-2000
Note 1
This specification data lists typical customer requirements for the G 1- G6 gyro, and therefore some models are capable of achieving a higher performance than that stated here. Where the gyro is used in a microprocessor based system, considerable performance improvements can be made by the use of digital characteri sation techniques. To date some 180 variants of this sensor have been produced covering a wide range of applications and specification requirements. Minimum costs and delivery time can therefore be achieved by selecting from those gyros currently in volume production. For further information please contact the Guidance Systems Division Sales Office.
Note 2 The GI-G6-031 variant refers to a long life, low noise gas bearing spin motor gyro.
Design Notes • Minimum noise performance is
ensured by:-(1) Sine wave drive to the spin motor (2) Driving the signal generator with a
high RMS voltage which reduces subsequent capture loop gain requirements
• Performance over temperature range High angular momentum, high rate range and high performance GI-G6gyros employ Samarium Cobalt magnets in the torque generator. To offset the variation of magnet performance with temperature, compensating networks are fitted into the gyro
• Signal Generator The signal generator is optimised for operation at 4.8kHz and-provides minimum phase shift at this frequency. However operation over the range 400Hz to 12.8kHz is possible
• Mounting Flange Index notch aligned to input axis to within 3 milliradians as standard. Higher accuracy optional
• Lead/Pin Functions Two phase motor.
Pin No. Function
1 Torquer Hi 2 TorquerLo 3 Microsyn Pri Hi 4 Microsyn Pri Lo 5 Molor-Iead q,A 6 Motor-common 7 Microsyn Sec Hi 8 Microsyn Sec Lo 9 Molor-q,B 10 Case-ground 11 12
Typical GI·G6 Characteristics
Parameter Units
Spin Motor Vollage Volts RMS
Frequency Hz
Power
Slart
Run Angular Momentum gm-cm2/sec.
Sync Time, Room Temp sec.
Signal Generator Vollage
Frequency
Load
Phase Shift
Sensitivity
Null
Torque Generator Maximum Torquing Rate
Continuous
Intermittent
Resistance
Scale Factor
Linearity
Gyro Performance Transfer Function
Time Constant
lA Freedom
Drift Rates - Maximum
G -Insensitive
G-Sensitive
Anisoelastic
Noise
Environments Operating Temperature
Shock
Vibration
Volts RMS
Hz
Ohms
deg.
Volts/rad.
mV (max.)
O/ sec.
o/ sec.
Ohms
c/ sec/ mA
%
VoltS/rad.
msec.
±deg
"/ hr.
"/ hr/ g
"/ hr/ r!
",ad. (max.)
"F
g, msec.
gRMS
Hz
326C
30/ 15
1250
6VA
4VA
17,200
2
9
3125
20k
±14
25
6
10
200
350
1.75
0.3
15
2.0
2.5- 5.0
30
15
0.8
6(10240 Hz)
+ 14010+185
85, 5
11,4
50-2500
329B
28.5/13
1498
3000mA
300mA
20,500
1.75
5
4800
10k
±7
12
6
40
150
35
0.33
0.3
5.5
0 .7
3 - 6
15
10
0 .2
6(10500 Hz)
+130/0+150
40, 11
5.4
20-2000
344B
30/20
1563
6W
1W
21,500
6
4 .2
6250
10k
±1O
13
6
175
185
425
2.7
0.015 "/sec
4.0
1.3
0.5-1.0
50
15
1.0
6 (10 500 Hz)
+4010+185
50,11
35
10-2000
367A
28.1/ 13
400
50W
3.5W
9250
0.8
30
4800
10k
±7
116
TBD
525
80.5
3.14
0.2
27
0.68
± 4
290
176
1.8
+510+160
35,30
15
20-2000
353B
16.8
400
5.1 W
4W
24000
60
12
6567
10k
10 ± 15
30
25
205
291
2.38
0.3
9.9
0.48
±4.5
100
100
1.8
+4010 +225
30,30
10
20-2000
342C
26
400
3.5W
3W
32,000
20
4.5
400
10k
72
3.6
10
60
120
28.1
0 .69
4
3.4
1.25
25
25
-2610+160
30,11 See Customer Spec
100-2000
355A
17
800
4.4 W
4W
7 127
50
5
12.8
10k
9
200
253
7.14
1.5
3.7
2.0
122
104
-6510+203
MIL-STD-810B Melhod516
MIL-STD-8 10B Method 514
321M
7
875
6.5W
5W
55611
30
7
4375
lOk
±5
9 .0
4
80
12 1
0.75
10
0 .86
12
12
0 .5
-24 10+160
MIL-STD-81 OB
M I L -STD-8 1 OB
351A
6 .5
893
600mA
1.2 W/ Leg.
357 20
60
7
4465
lOk
10
16
20
60
120
58
0 .62
0 .1
10
1.0
20
30
2
10
150 ± 2
031 Gas bearing, low noise
28
5000
10W
2.75 W
32,000
20
7
5000
lOk
5
17
14.3
115
N/A
69
0 .729
0 .34
17.94
1.2
± 14
15
14.2
TS-2858
+140
15,11
2
10-2000
Note 1
This specification data lists typical customer requirements for the G I · G6 gyro, and therefore some models are capable of achieving a higher performance than that stated here. Where the gyro is used in a microprocessor based system, considerable performance improvements can be made by the use of digital characterisation techniques. To date some 180 variants of this sensor have been produced covering a wide range of applications and specification requirements. Minimum costs and delivery time can therefore be achieved by selecting from those gyros currently in volume production. For further information please contact the Guidance Systems Division Sales Office.
Note 2 The GI·G6·031 variant refers to a long life, low noise gas bearing spin motor gyro.
Design Notes
• Minimum noise performance is ensu red by:-(1) Sine wave drive to the spin motor (2) Driving the signal generator with a
high RMS voltage which reduces subsequent capture loop gain requirements
• Performance over temperature range High angular momentum, high rate range and high performance G I· G6 gyros employ Samarium Cobalt magnets in the torque generator. To offset the variation of magnet performance with temperature, compensating networks are fitted into the gyro
• Signal Generator The signal generator is optimised for operation at 4.8kHz and-provides minimum phase shift at this frequency. However operation over the range 400Hz to 12.8kHz is possible
• Mounting Flange Index notch aligned to input axis to within 3 milliradians as standard. Higher accuracy optional
• Lead/Pin Functions Two phase motor.
Pin No.
1 2 3 4 5 6 7 8 9 10 11 12
Function
TorquerHi Torquer Lo Microsyn Pri Hi Microsyn Pri La Molor-Iead q,A Motor-common Microsyn Sec Hi Microsyn Sec Lo Molor-q,B Case·ground
Typical GI-G6 Configurations
Mounting Flange and Flying Leads (Standard)
Mounting Flange and Header Pins (Alternative)
Basic Outline (Alternative)
Gyro Circuit Diagram
This document gives only a general description of the product(s)
and shall not form part of any contract. From lime to time and without prior notice, changes may be made in the product(s) or in the conditions of supply,
Manufactured under licence from Northrop Corporation USA
,
SRA
45'--+
IA +~1If~-
063 +·001 . -0
1 lA .002
.. , , Shielded C 6.0 ± .2SL o""~
I~
OA
2.4 Max.Ret.
0 .01 x4S"Chamfer Label /
nl -
1.0 1.296 + 0 +0 - .001 -.003
.125± .OlO-..j r,-'::::'lu,=llI
12 Terminals .03 DIA EQl S P On .75 PCD
SRA .085 ~ :gJ
C~ 00 oop :..
- -13-iIRff--lA --: T' • .062 ± .002 r~~~~~ Input Notch
Optional
OA r ~
Pln2
SRA .085 ~2~
2 Holes 0-80 UNC Thread EOl S P 0
Al"!""",, .850 PGD x .085 De
12 Termlnals.o3 DIA EOl SP On .75 PGD .;1
TorQuer
2
Pin 1
Pin 2
Signal Generator
4 3 8
ep :..
OA r ~
lJ(J PRI SEC
I'
I'
5
Dimensions In Inches
2.25SMsx. Ref.
2.2 Max.Ref.
O~OI X45' Label
Chamfer /
t i t 1.0 1.1 5
-- _ +0 +0 - .001 -.00
OIA OIA
.=--.l -.. . 125±.D10 --..J "";1100 To 1 t
Gusl . Spec.-..j 1. A .0005 ·A·
Dlmensionsinlnches
2.255 Mo< Rel.==::I
2.2 Max. Ref. ,
Label
/ ~ i
1.0 +0 - .001
OIA
---±.
Dimensionsin Inches
Spin Molor
6 9
* Optional 3 Phase M olol
Ground
10
1 " o
12 o
GEC AVI()NICS
GI-G6-317Y RATE INTEGRATING GYRO
PERFORMANCE CHARACTERISTICS
DRIFT SPIN MOTOR G-In sensitive 40' / hr Excitat ion 30v RMS, 400 Hz
Slabi lily (1 Sigma) 10' / hr Waveform Sine or Square G-Sensitive, per axis 30' / hr/ g Power, Starting 5 watts, max
vector sum 40' / hr/g Running 4 watts, max
Stabili ty (1 Sigma) 8 ' / hr/ g Phases 1, 2 or 3
G2-Sensitive 2' / hr/ g' Sync Time, Room Tempera ture 30 sec, max (2 or
Random 2' / hr 3-Phase Operation) Angular Momentum 32,000 gm-cm2/ sec
PICK-OFF GYRO TRANSFER FUNCTION Excitation 8v RMS, 4800 Hz At Room Temperature 19v RM S/rad ± 20% Load 10K ohms Variat ion from Room Temperature Phase Shift o ± 10 degrees o to + 200" Current 12.5 ma, typica l - 50 to O' F
DAMPING COEFFICIENT TORQUER Torquing Rate, (2 sec ON, CHARACTERISTIC TIME
20 sec OFF) 200' / sec Torquing Rate, Continuous 105' /sec ENVIRONMENTS Sca le Factor 1.25°/ sec/ ma ± 20% Tempera ture, Storage Scale Factor Tempe rature Operating
Coefficient 0.025%I'F Random Vibration Linear ity 0.03"/ sec or 0.25% Shock
of readi ng Linear Acceleration Resistance 108 ohms Slew Rate Capability
OUTLINE
SI" Sp,n Motor T~","
= "R' T2
" , , , , IYl l?: , llll~~ -tlHt~-+ IA
GyfO Tllfmr.:J!S
GEC AVIONICS GEC Avionics Limited Airport Works Rochesler Kent ME t 2XX Telephone : Medway (0634) 44 400 Telex 96333/4
Guidance Systems Division
o to + 15% Plus 20%, Minus 50%
32,000 dyna-cm/ rad/sec
1.0 msec (nominal)
- 65 to + 250"F -50 to + 200' F 30g RM S, 20 • 2000 Hz 1 OOg, 11 msec, Sawtooth 50g 20 rad/sec
Th is document gives only a general descript ion of the product(sl and shall nOI form part of any contract. From time to time changes may be made in Ihe ploduct!s) or in the conditions of supply.
429A