Three-axis Gyroscope | Engee Documentation

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

— matrices 3 on 3 with scaling coefficients on the diagonal and offset coefficients on the non-diagonal elements of the matrix;
— offsets;
— 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/s.

Data types	`Float64`
Complex numbers support	No

# G's — accelerations
vector 1 by 3

Details

Accelerations in connected axes, specified as a three-element vector.

Data types	`Float64`
Complex numbers support	No

Output

# ω_meas (rad/s) — measured angular velocities
vector 1 by 3

Details

Measured angular velocities returned as a three-element vector, in rad/s.

Data types	`Float64`
Complex numbers support	No

Parameters

Main group

# Second-order dynamics — second-order dynamics

Details

Select this option to take into account second-order dynamic effects when processing gyroscope data.

Default value	`true (switched on)`
Program usage name	`dtype_g`
Tunable	No
Evaluatable	Yes

# Natural frequency (rad/sec): — natural frequency

Details

The natural frequency of the gyroscope is in rad/s.

Default value	`190.0`
Program usage name	`w_g`
Tunable	No
Evaluatable	Yes

# Damping ratio: — damping coefficient

Details

The damping coefficient of the gyroscope.

Default value	`0.707`
Program usage name	`z_g`
Tunable	No
Evaluatable	Yes

# Scale factors and cross-coupling: — scale factors and cross-links

Details

Scale factors and cross-links defined as a matrix 3 on 3, allow you to deflect the gyroscope from the axes of the body and scale accelerations along the axes of the body.

Default value	`[1 0 0; 0 1 0; 0 0 1]`
Program usage name	`g_sf_cc`
Tunable	No
Evaluatable	Yes

# Measurement bias: — measurement error

Details

Systematic measurement errors along the gyroscope axes.

Default value	`[0 0 0]`
Program usage name	`g_bias`
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	`[0 0 0]`
Program usage name	`g_sen`
Tunable	No
Evaluatable	Yes

# Update rate (sec): — refresh rate

Details

The refresh rate of the gyroscope.

Default value	`0`
Program usage name	`g_Ts`
Tunable	No
Evaluatable	Yes

Noise

# Noise on — white noise

Details

To add white noise to the gyroscope readings, select this option.

Default value	`false (switched off)`
Program usage name	`g_rand`
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	`Inf`
Program usage name	`upper_limit`
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	`-Inf`
Program usage name	`lower_limit`
Tunable	No
Evaluatable	Yes

Literature

Rogers, R. M., Applied Mathematics in Integrated Navigation Systems, AIAA Education Series, 2000.