Editing Gimbal lock (section)

===Solutions===
This problem may be overcome by use of a fourth gimbal, actively driven by a motor so as to maintain a large angle between roll and yaw gimbal axes.  Another solution is to rotate one or more of the gimbals to an arbitrary position when gimbal lock is detected and thus reset the device.

Modern practice is to avoid the use of gimbals entirely. In the context of [[inertial navigation system]]s, that can be done by mounting the inertial sensors directly to the body of the vehicle (this is called a [[strapdown]] system)<ref>{{cite web|url=http://xenia.media.mit.edu/~verp/projects/smartpen/node8.html#SECTION00322000000000000000|title=Overview of Pen Design and Navigation Background|author=Chris Verplaetse|year=1995|url-status=dead|archiveurl=https://web.archive.org/web/20090214023126/http://xenia.media.mit.edu/~verp/projects/smartpen/node8.html#SECTION00322000000000000000|archivedate=2009-02-14}}</ref> and integrating sensed rotation and acceleration digitally using [[quaternion]] methods to derive vehicle orientation and velocity. Another way to replace gimbals is to use fluid bearings or a flotation chamber.<ref>{{cite web|url=https://patentscope.wipo.int/search/en/detail.jsf?docId=WO2006060611&tab=PCTDESCRIPTION|title=Articulated gas bearing support pads|author=Chappell, Charles, D.|year=2006}}</ref>