Surveys as accurate as those done by

conventional methods are completed more

quickly by the use of a new type of north-
seeking gyro attachment for theodolites.

Gyro Attachment For Theodolites

Simplifies Surveying Procedures
0 . RELLENSMANN and E. P. PFLEIDER

n the May 1959 issue of 8 E the authors re-

1 ported on the gyrotheodolite as used for deter-
mining azimuths in surface and underground work.
Further research has led to the development of
a new type of gyro instrument, the band-suspended
gyro attachment, which is essentially an upset gyro
attached to the top of a theodolite. The new gyro
attachment is light enough to be mounted on any
angle-measuring instrument if the design of the
telescope standard permits.
Gyrotheodolite units have been used to transfer
meridian lines underground in the Coeur d'Alene
mining district, although they have not ,been used
extensively in the U.S. In other parts of the world,
however, they have been adopted as the standard
surveying instrument by mining engineers.
In addition to underground work, the gyrotheo-
dolite has been used in geodetic surveys, surface
OTTO RELLENSMANN is Professor Emeritus, Clausthal Mining
Academy, Clausthal-Zellerfeld, West Germany. Co-author EU-
GENE P. PFLEIDER, SME member, is Professor of Mineral Engi-
neering, School of Mineral and Metallurgical Engineering, Univer-
sity of Minnesota Minneapolis, Minn.
mines and in applied geophysics to determine mag-
netic declinations.
Theory and Principle
A free gyro is a symmetrically constructed
rotor which is able to turn about all three
axes and whose center points of gravity and rota-
tion coincide. In the case of a north-seeking gyro
there is no such coincidence between the centers
of gravity and rotation because a heavy mass of
lead is placed at the bottom of the gyro-contain-
ing ball. The distance between the center of gravity
and the center of rotation is known as the meta-
centric height.
The most interesting phenomenon in gyro-appli-
cation is precession (Fig. 1). If we apply a force
K on the end of a non-spinning gyro, the end
of the axis moves downward, while in the case of
a spinning gyro the axis turns perpendicular in
thehorizontal plane according to the force parallel-
ogram 1-2-3. The horizontal velocity vector 1-2
depends on the magnitude of the angularvelocity
Of the spinning gyro, while the horizontal velocity
vector 2-3 depends on the magnitude of K. There-

72-MINING ENGINEERING, M A R C H 1968 SOCIETY OF


Fig. I-By applying a force K to a spinning gyro, a moue-
ment perpendicular to K results and is equal to the 1-3
uector.
fore, 1-3 is the resultant vector that causes the
end of the axis to move perpendicular to K.
If the earth is considered to be a very big gyro
that turns around its axis once every 24 hours,
and on this big gyro we are operating our
small gyro-instrument, the problem of making this
small gyro-instrument north-seeking consists of
arranging it as a suspended pendulous gyro (Fig. 2 ) .
With the earth rotating from west to east, the axis
of the spinning gyro is directed in an east-west
direction (position I ) . When the plumbline has
changed 15 degrees, the gyro-axis tends to keep
the same position as in I (shown in position 11)
because of its inertia. But the precession due to
the gravity force F compels the gyro-axis to turn
to a north-south orientation, which is shown in
position 111. If the inertia of the system is great
enough, the axis of the gyro-wheel will overshoot
the meridian, and therefore cause the axis to precess
in the opposite direction. According to the laws
of dynamics, it can be easily proved that these
oscillations are in the form of weakly damped,
simple harmonic motion.
The oscillations around true north, as effected
by the earth's rotation, are summarized as follows:
There is no change in the direction of plumbline
on the North Pole but there is a change of 15"
Fig. 2-By arranging it as a suspended
pendulous gyro, the gyro-instrument be-
comes north seeking. The phenomenorl
of precession, illustrated hme, form9
the basis for the operation of the gyro
attachment for theodolites.
M I N I N G ENGINEERS
per hr on the equator. At other latitudes the change
after one hour is 15" x cos latitude so that a
north-seeking gyro is only applicable in latitudes
between the equator and 80".
The meridian direction moment, R (gm cm' x
sec") , at latitude Q amounts to:
R=I.w.n.cos+-sins C11
where
I = moment of inertia of gyro, gm cma
o = angular velocity ofgyro, radians per sec
n = angular velocity of earth, radians per sec
4 = latitude of observation
= angle of precession from north, degrees
(Y
The swing time, T, of the oscillations is given
by the following equaton:
where
m = mass of pendulum, gm
a = metacentric height, cm
g = acceleration of gravity, cm per secZ
The form of oscillations of the gyro-axis is ellip-
tical, with the major axis being in the horizontal
plane, the minor axis in the vertical plane and
a ratio between the two axes of about 30: 1. For
the north determination only five or seven east
and west reversal points are observed and then,
by use of the Schuler-mean, the north position
is calculated.
Historical Development
In April 1947, Rellensmann began consrtuction
of a meridian-indicator that would not have the
disadvantage of preceding instruments, namely, ex-
treme sensitivity to outside disturbances such as vi-
bration (Fig. 3 ) . The gyro a, which has an angular
momentum of approximately 50 x 10' gm cm"
per sec is installed in a sphere b, which carries
a heavy leadmass on its lower side in order to
decrease swing time. The gyro-sphere is surrounded
by an envelope-sphere c, and both spheres have
electrical contacts opposite each other. By means
of a Wheatstone bridge it is possible to give the
envelope-sphere the same direction, which is ob-
M A R C H 1968, M I N I N G ENGINEERING-73
 a theodolite. The basic features of this instrument
a gyro are presented in Table 1.

b gyro sphere Gyro-Theodolite Unit

c envelope sphere
d electrical contacts for
off-take of direction
a divided circle
f alidade
Fig. 3-A cross-section of the first Clausthal meridian in-
dicator illustrates the basic constr~cctionof the gyro-attach-
ment.
tained by peaks of an electrical tone signal, as
that indicated for the gyro-sphere. The envelope-
sphere can be rotated around its vertical axis and
has a plate on top for mounting the theodolite.
Optical reading of direction by an auto-collima-
tion telescope, and introduction of band-suspension
were important subsequent refinements.
Through the work of McLelland and Rellens-
mann, an instrument called the Gyrotheodolite KT-
1 (McLelland) was developed, and has been suc-
cessfully used in several areas.I3 Subsequent modi-
fication, termed the "Rellensmann System," has
led to a new instrument design characterized by
having a small upset gyro attached to the top of
The normal theodolite is modified with a bridge
mounted on the telescope standards and the range
of the horizontal tangent screws is increased. Three
centering pins in the bridge insure that the gyro
will always have the same position in relation to
the line of sight of the telescope. Since the tele-
scope can still be transited below the bridge, the
instrument is not prevented from carrying out its
normal duties.
The north-seeking gyro system (Fig. 4) hangs
on a thin suspension tape with the result that the
spin axis of the gyro is kept in the horizontal
plane and, under the influence of the earth's spin-
ning motion, takes up a slightly damped oscillation
symmetrical to the meridian plane. A gyro mark,
forming part of the optical system connected to
the gyro mechanism, allows observations of the
oscillations in relation to a reading index attached
to the instrument. By observing a series of oscilla-
tion turning points and reading the theodolite hori-
zontal circle each time, or by timing the transit
through a line of sight previously oriented approxi-
mately in the north direction, the geographic or
true north direction is obtained by the gyro. The
two measuring methods commonly used are simple
and make complicated calculations unnecessary so
that the final determination is completed by the
end of the observation.

a upper band c l a m p
Measuring Procedure
b lower band c l a m p
The methods of operating the gyro theodolite
c Index
(Rellensmann System) are described in detail by
d mast
Schwendener4 and in the manuals prepared by the
manufacturers of the instrument. A brief descrip-
e gyro
I v-mark
tion of the procedures, however, will assist in un-
derstanding the simple techniques involved.
g lracer poml
The telescope is preoriented towards the north
h magnnl~er
by a so-called "quick method", and subsequently
I forced cenlerlng
oriented precisely, either by the "transit method,"
k locknng
or the "reversal point method" described below.
The Quick Method
As the time of an oscillation period remains con-
stant within a large area, and as that time can be
calculated in advance for each geographical lati-
tude, it is possible to obtain an approximate orien-
tation in a few minutes with the aid of a stopwatch
fitted with an independently controlled trailing
second hand.
The Transit Method
The alidade is clamped with the telescope in
the approximate orientation obtained by the Quick
Method described above. With the stopwatch, the
transit of the gyro mark through the center of the
index (Fig, 4) is timed and, in addition, the ampli-
tude of the oscillation is read on an auxiliary scale.
Corrections are then applied to the approximate
orientation, proportional to the amplitude and also
to the time difference in oscillation periods to the
Fig. 4-This sectional view of the gyro attachment indicates left and right of the index center. The propor-
the mirror ~ y s t e m b y which the wing-amplitudes of the tional factor can be determined either empirically
gyro axis are obserced. Inset shows V-mark image.
SOCIETY OF
74-MINING ENGINEERING, MARCH 1968
 the application of a north-seeking gyro. In trans-
Table I. Basic Features of Fennel TK-3 ferring a bearing from the surface to the under-
Band-Suspended Gyro Attachment and ground workings of a mine, usually one gyroscopic
Wild T-16 Theodolite determination of azimuth is made at each end of
the surface line and also one determination at each
POWER:
A synchrynous motor, 3 ph, 115 v
end of the underground line. If the differences be-
Power source-two 12 v batteries in series with transistorized
convertor at 400 CDS stabilized either bs tuning
tween the values on surface and underground range
- fork or ouartz
crystal within a certain limit, the transfer work is con-
Consumption-0.3 A h (ampere hr) for a 30 min setup.
sidered satisfactory.
GYRO ATTACHMENT:
Inertia-0.18 x 103 gr cma
Impulse-1.8 x 160 gr cma per sec
Gyro Theodolite in Surface Mining and Geodesy
Half period-4 min at 50' latitude Determining the true meridian is an important
THEODOLITE: task for the surveyor and usually has been done
Erect image, fixed focus magnification of 28 diam and 16 mm
aperture. by observing the bearing of the pole-star at its
Spirit level sensitivity-30 in. per 2 mm greatest elongation. Observations on the pole-star
TOTAL WEIGHT: 18 k g (40 1b) are less conveniently made than those on the sun,
but the calculations are simpler and accuracy is
or by calculation. Depending on the desired accu- much greater.
racy, the circle reading for the true north is derived It is faster and more economical to solve this
from three or more transits through the center of task by using a gyro-attachment, and the accuracy
the index. is high enough for all geodetic purposes. The gyro-
The Reversal Point Method method is particularly advantageous as it may be
The oscillating gyro mark is followed by means used at all times and under all conditions, and the
of a continuous turning of the tangent screw, which whole procedure is rapid, involving virtually no
keeps it in the center of the V-shaped index. As the calculations.
gyro reaches the reversal point, it appears to stand It is not necessary to carry out observations at
still and in this position the horizontal circle is each point of a long traverse when measuring dis-
read. Depending on the desired accuracy, true north tances and determining bearings because only every
is determined by observing three or more turning second point need be occupied. Also the location
points and the mean of the oscillation is computed of new points by resection can be easily perfected
according to Schuler's Mean (Fig. 5). by using the gyro-attachment. Only two triangu-
The mean square error or standard deviation of lation points are necessary for resection with the
a true north orientation and the time required (in- gyro-theodolite, whereas three points must be
known when using the transit alone, thus simpli-
cluding running up time) are as follows:
fying calculations.
Quick Method
2 3 ' of arc in about 7 min. Gyro Application in Applied Geophysics
Transit Method and Reversal Point Method In applied geophysics the gyro-attachment is used
230" of arc in about 20 min. to determine magnetic declinations, i.e. the angle
This final adaptation of the gyro attachment to between true and magnetic north, which can be
the theodolite helped introduce this instrument done with an accuracy of 1'. To determine this
for numerous tasks in geodesy, mine surveying, angle, magnetic north is observed with a com-
geophysical work and military applications. pass and true north with the gyro-attachment.
Using this method, and choosing a distance between
Gyro Surveys in Underground Mining observation points of one mile, precise isogonic
In many cases orientation work in mines can charts can be drawn. This is much more accurate
be done more accurately and economically with than conventional isogonic charts, as they use ten
mile intervals between observations. In addition,
Arnplltude
11 - horlzontel clrcle readlng for useful information can be obtained concerning the
reversal left (west1 or rlght (east1 disturbing magnetic layers within the earth's crust.
of rnerldlan plane
Torricos6 and Horst have reported on such work,
Schuler mean
-
z , lntermedlate mean
carried out on a large scale within northwest re-
2,-total mean gion in Germany. They state that this declination
lndlcatlng relerence
bearlng corresponding to
method is a very valuable aid in geomagnetics
true nonn to solve geologiotectonic problems. i5E
+il,+I.I+l. -
2
21
References
$11, t 1 . 1 + 1 . 1 G. B. Lauf: The Gyrotheodolite and its Application in the Min-
2 - Z* ing Industry of South Africa. Journal of the South A f ~ i c a nInstitute
of Mining and Metallurgy, 1963, pp. 349-386.
a A. Falter: The Gyrotheodolite and its Value in Modern Survey-
ing Practice. The Canadian Mining and Metallurgical Bulletin, 1964,
PP. 413-420.
3 0. Rellensmann: Recent Application of the Gyrotheodolite in
Tunneling-Work in Underground-Workings and in Applied Geo-
physics. Mining Research, Pergamon Press, pp. 283-288.
LH. R. Schwendener: Methods and Practical Experience in the
Fig. 5--The Schuler Mean is calculated b y the equations Determination of True North with a Theodolite Gyro Attachment.
English translation of article in German published in Allgemeine
shown here. The points I are the reuersal points obseroed Ve7messungs-Nauchrichten, 4 (April 1966).
in the V-shaped index of the gyro-attachment. M. Torricos: Results of ~eciinations:~easurements in the North-
west Harzregion. Dissertation Mining University Clausthal, 1965.

M I N I N G ENGINEERS M A R C H 1968, M I N I N G ENGINEERING-75