Variations on the Davenport Gyroscope Calibration Algorithm

This paper presents a number of variations on the Davenport algorithm for in-flight gyroscope recalibration, or first order initial calibration, specifically tailored for use with a minimum of satellite telemetry data. Central to one of the techniques described is the use of onboard integration of gyroscope data together with a detailed model of scheduled satellite slew profiles. Methods are presented for determining adjustments to either parameters for the standard linear model (i.e., a drift rate bias vector and/or a scale factor/alignment transformation matrix) or individual gyroscope scale parameters, both linear and nonlinear, in cases where the alignments are well known. The results of applying the methods in an analysis of the temporal evolution and nonlinear response of the gyroscopes installed on the Hubble Space Telescope following its first servicing mission are discussed. The two effects, when working coherently, have been found to result in slew errors of almost 1 arcsecond per degree. Procedures for selecting optimal operational gyroscope parameters subject to the constraint of using a linear model are discussed.