MeasAccel:

Path: SC/Sensor

% Models accelerometers. This model includes quantization, noise and a bias.

   Since version 11.
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   Form:
   y = Accel( x, d )
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   -------
   Inputs
   -------
   x         (:,1)  State vector
   d         (1,1)  Data structure
                    .kO       (3,1) Angular rates in body frame state
                    .omegaDot (3,1) Inertial angular acceleration 
                    .accel    (3,1) Sum of all forces (except gravity)
                                           in the body frame
                    .r        (3,1) Position wrt c.m.
                    .u        (3,:) Unit vectors for the accelerometers
                    .noise    (:,1) One sigma noise
                    .bias     (:,1) Bias 
                    .scale    (:)   Scale factor
                    .lSB      (1,1) Least significant bit 

   -------
   Outputs
   -------
   y         (3,1)   Accelerations

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Children:

Math: Linear/Cross
Math: Linear/SkewSq

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