Three-axis Gyroscope
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blockType: SubSystem
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Description
The Three-axis Gyroscope unit implements a gyroscope on each of the three axes .
The measured angular velocities of the body ( ) include the angular velocities of the body ( ), errors and, if necessary, discretisation and non-linearity of the signals:
where
-
- are 3 by 3 matrices with scaling factors on the diagonal and bias factors on the non-diagonal elements of the matrix;
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- offsets;
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- acceleration on the gyroscope axes;
- displacements sensitive to gyroscopic accelerations.
Ports
Input
#
ω (rad/s)
—
angular velocities
`vector 1 to 3
Details
Angular velocities in the coupled axes, given as a three-element vector, in radians per second.
| Data types |
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| Complex numbers support |
No |
#
G's
—
acceleration
``vector 1 to 3.
Details
Accelerations in the coupled axes given as a three-element vector.
| Data types |
|
| Complex numbers support |
No |
Output
#
ωmeas (rad/s)
—
measured angular velocities
`vector 1 to 3
Details
Measured angular velocities returned as a three-element vector, in radians per second.
| Data types |
|
| Complex numbers support |
No |
Parameters
Main
# Second-order dynamics — second-order dynamics
Details
Select this check box to take second-order dynamic effects into account when processing gyroscope data.
| Default value |
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| 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/c.
| Default value |
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| Program usage name |
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| Tunable |
No |
| Evaluatable |
Yes |
# Damping ratio: — damping factor
Details
The damping factor of the gyroscope.
| Default value |
|
| Program usage name |
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| Tunable |
No |
| Evaluatable |
Yes |
# Scale factors and cross-coupling: — scaling factors and cross-correlations
Details
The scaling factors and cross-couplings, given as a 3 by 3 matrix, allow the gyroscope to be deflected from the body axes and the accelerations to be scaled along the body axes.
| Default value |
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| Program usage name |
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| Tunable |
No |
| Evaluatable |
Yes |
# Measurement bias: — measurement error
Details
Systematic measurement errors in the gyroscope axes.
| Default value |
|
| Program usage name |
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| Tunable |
No |
| Evaluatable |
Yes |
# G-sensitive bias: — acceleration sensitivity
Details
Maximum change in angular velocity caused by linear acceleration, given as a three-element vector in rad/s per unit of free-fall acceleration .
| Default value |
|
| Program usage name |
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| Tunable |
No |
| Evaluatable |
Yes |
# Update rate (sec): — refresh rate
Details
The refresh rate of the gyroscope.
| Default value |
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| Program usage name |
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| Tunable |
No |
| Evaluatable |
Yes |
Noise
# Noise on — white noise
Details
To add white noise to the gyroscope readings, select this check box.
| Default value |
|
| Program usage name |
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| Tunable |
No |
| Evaluatable |
Yes |
# Noise seeds: — white noise generator seed values
Details
Seed-values of the white noise generator specified as a three-element vector.
Dependencies
To use this parameters, set the checkbox Noise on.
| Default value |
|
| Program usage name |
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| Tunable |
No |
| Evaluatable |
Yes |
# Noise power: — noise power
Details
The height of the power spectral density (PSD) of white noise for each gyroscope axis, given as a three-element vector.
Dependencies
To use this parameters, select the checkbox Noise on.
| Default value |
|
| Program usage name |
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| Tunable |
No |
| Evaluatable |
Yes |
# Upper output limit: — maximum value of angular velocities
Details
The maximum value of angular velocities specified by a scalar.
| Default value |
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| 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 specified by a scalar.
| Default value |
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| Program usage name |
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| Tunable |
No |
| Evaluatable |
Yes |