MeasRateGyro:

Path: SC/Sensor

% Returns body rate information.

   You enter a scale factor and a bias in the data structure. 
   The noise field should be set to zero when this is used a part of a
   Kalman filter.

   The field "kW" selects the body rate from the state vector.

   qB transforms from the body to the sensor frame. There can be multiple
   sensors and multiple columns of qB, scale, bias and noise.

   If no inputs are given it will return the default data structure.

   Since version 11.
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   Form:
   y = MeasRateGyro( x, d )
   d = MeasRateGyro
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   ------
   Inputs    
   ------
   x         (n,1)  State vector
   d         (1,1)  Data structure
                    .kW            (1,3) Body rate
                    .qBToS         (4,n) Quaternion from body to Sensor
                    .scale         (3,n) Scale factor
                    .bias          (3,n) Bias
                    .noise         (3,n) 1 sigma noise
                    .quantization	(1,1) LSB


   -------
   Outputs
   -------
   y         (3*n,1)   Measurements in counts

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Children:

Common: Quaternion/QForm

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