Error of a precision gyroscope sensor of angular velocity

The paper analyzes the error of angular velocity sensors constructed on the basis of floating gyroscopes and used in inertial systems without universal joint. It is assumed that as a result of construction imperfections, the angle between the rotor z-axis and the x-axis of the gyroscope frame is equal to 90 + or - X, a small quantity. Expressions are obtained in a first approximation for the inertial moments of the rotor and the frame with respect to the axis of precession of the gyroscope. The analysis is applied to calculating the error of a gyroscope in measuring the angular velocity of a flight vehicle around its normal axis.