Three-axis Gyroscope
blockType: SubSystem
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Path in the library: |
Description
Block Three-axis Gyroscope implements a gyroscope on each of the three axes .
Measured angular velocities of a body ( ) include angular velocities of the body ( ), errors and, if necessary, sampling and non-linearity of the signals:
where
-
— 3 by 3 matrices with scaling coefficients on the diagonal and offset coefficients on the non-diagonal elements of the matrix;
-
— offsets;
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— accelerations on the gyroscope axes;
— offsets sensitive to gyroscopic accelerations.
Ports
Input
#
ω (rad/s)
—
angular velocities
vector 1 by 3
Details
Angular velocities in the connected axes, given as a three-element vector, in rad/c.
| Data types |
|
| Complex numbers support |
No |
#
G's
—
accelerations
vector 1 by 3
Details
Accelerations in connected axes, specified as a three-element vector.
| Data types |
|
| Complex numbers support |
No |
Output
#
ωmeas (rad/s)
—
measured angular velocities
vector 1 by 3
Details
Measured angular velocities returned as a three-element vector, in rad/c.
| Data types |
|
| Complex numbers support |
No |
Parameters
Main
# Second-order dynamics — second-order dynamics
Details
Select this option to account for second-order dynamic effects when processing gyroscope data.
| Default value |
|
| Program usage name |
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| Tunable |
No |
| Evaluatable |
Yes |
# Natural frequency (rad/sec): — natural frequency
Details
The natural frequency of the gyroscope in rad/s.
| Default value |
|
| Program usage name |
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| Tunable |
No |
| Evaluatable |
Yes |
# Damping ratio: — damping coefficient
Details
The damping coefficient of the gyroscope.
| Default value |
|
| Program usage name |
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| Tunable |
No |
| Evaluatable |
Yes |
# Scale factors and cross-coupling: — scale factors and cross-links
Details
Scale coefficients and cross-links, set as a 3-by-3 matrix, allow you to deflect the gyroscope from the axes of the body and scale accelerations along the axes of the body.
| Default value |
|
| Program usage name |
|
| Tunable |
No |
| Evaluatable |
Yes |
# Measurement bias: — measurement error
Details
Systematic measurement errors along the gyroscope axes.
| Default value |
|
| Program usage name |
|
| Tunable |
No |
| Evaluatable |
Yes |
# G-sensitive bias: — sensitivity to accelerations
Details
The maximum change in angular velocity caused by linear acceleration, given as a three-element vector in rad/s per unit acceleration of gravity .
| Default value |
|
| Program usage name |
|
| Tunable |
No |
| Evaluatable |
Yes |
# Update rate (sec): — refresh rate
Details
The refresh rate of the gyroscope.
| Default value |
|
| Program usage name |
|
| Tunable |
No |
| Evaluatable |
Yes |
Noise
# Noise on — white noise
Details
To add white noise to the gyroscope readings, select this option.
| Default value |
|
| Program usage name |
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| Tunable |
No |
| Evaluatable |
Yes |
# Noise seeds: — seed-values of the white noise generator
Details
Seed-the values of the white noise generator, set as a three-element vector.
Dependencies
To use this option, check the box Noise on.
| Default value |
|
| Program usage name |
|
| Tunable |
No |
| Evaluatable |
Yes |
# Noise power: — noise power
Details
The height of the power spectral density (SPM) of white noise for each axis of the gyroscope, set as a three-element vector.
Dependencies
To use this option, check the box Noise on.
| Default value |
|
| Program usage name |
|
| Tunable |
No |
| Evaluatable |
Yes |
# Upper output limit: — maximum value of angular velocities
Details
The maximum value of angular velocities set by a scalar.
| Default value |
|
| Program usage name |
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| Tunable |
No |
| Evaluatable |
Yes |
# Lower output limit: — minimum value of angular velocities
Details
The minimum value of angular velocities set by a scalar.
| Default value |
|
| Program usage name |
|
| Tunable |
No |
| Evaluatable |
Yes |