When does a gimbal lock occur on a three axis platform?

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Satellite Radio Navigation & Inertial Navigation topics include: Orbital mechanics, clock characteristics, satellite signals atmospheric effects, navstar gps, global orbiting navigational satellite system, accelerometer, gyroscopes, strap down and gimballed inertial navigation systems. Satellite navigation is a system that uses a network of artificial satellites to provide positioning anywhere in the world. It works by transmitting radio signals from satellites in medium earth orbit.  The Global Positioning System (GPS) is a space-based radio-navigation system that uses satellite... Show more

When does a gimbal lock occur on a three axis platform?