Abstract:
This thesis presents the design and development of a gyrocompass, intended for night
navigation, leveraging modern Microelectromechanical Systems (MEMS) technology and
accessible microcontrollers. Initially, the project aimed to replicate a traditional gyrocompass,
which utilized an electromechanical gimbal (Cardan) and a rotor driven by a 36V, 3-phase,
400Hz motor. However, due to the high precision manufacturing requirements and the absence
of necessary test benches in Pakistan, replicating 'Cardan' locally was deemed impractical.
Furthermore, suitable replacements were unavailable in both local and international markets.
To overcome these challenges, an alternative solution was devised using a MEMSbased Inertial Measurement Unit (IMU) MPU6050, an organic light-emitting diode (OLED)
display, and an Atmega328P microcontroller. The resulting gyrocompass achieved an accuracy
of ±1 degree and was successfully tested at the Advanced Systems Rebuild Factory (ASRF),
Heavy Industries Taxila (HIT), Pakistan, and functional and fitment test at 608 Regional
Workshop EME. The primary technical challenge encountered was the accumulation of errors
over time, which was effectively mitigated through the implementation of an Extended Kalman
filter.
This work demonstrates a cost-effective and practical approach to developing a
gyrocompass suitable for night navigation, showcasing the potential of MEMS technology and
modern microcontrollers in precision navigation applications.
