HRG:

Path: SC/Sensor

% Model a hemispherical resonating gyro. Includes all noise sources
   and temperature dependence.  The data structure is:

   hRGDS(1) = struct('angle'          ,  0,...
   				  'measurement'    ,  0,...
             'temp'           ,300,...
             'tempNom'        ,300,...
             'unitVector'     , [1;0;0],...
             'biasDrift'      , 0.006*degToRad,...
   				  'biasDriftT'     , 0.044*degToRad,...
   				  'biasDriftU'     , 0.00028*degToRad,...
   				  'angleDepDrift'  , 0.37*degToRad,...
   				  'angleDepDriftT' , 0.0044*degToRad,...
   				  'angleDepDriftU' , 0.0045*degToRad,...
   				  'angleRandomWalk', 0.000065*degToRad/60,...
   				  'scaleFactor'    , 1.0,...
   				  'scaleFactorU'   , 0.02,...
   				  'scaleFactorT'   , 0.11,...
   				  'resolution'     , degToRad/3600,...
   				  'initialize'     , 0 );
   
   Since version 2.
--------------------------------------------------------------------------
   Form:
   hRGDS = HRG( hRGDS, w, dT )
--------------------------------------------------------------------------

   ------
   Inputs
   ------
   hRGDS         (:,:)  Data structure for the gyros
   w             (3,1)  Inertial body rate
   dT            (1,1)  Time step (sec)

   -------
   Outputs
   -------
   hRGDS         (:,:)  Data structure for the gyros

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