RateGyro:

Path: SC/Sensor

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

   h.measurement
   h.scaleFactor
   h.bias
   h.temp
   h.tempNominal
   h.maxRate
   h.unitVector(3)
   h.resolution
   h.deadband
   h.accelCoeff(2)               [g g^2]
   h.biasTempCoeff(n)            [(temp - tempNominal) (temp - tempNominal)^2 ... ]
   h.biasDayToDay 
   h.biasRandomDrift 
   h.biasRandomWalk              (Optical Gyros) 
   h.scaleFactorDayToDay 
   h.scaleFactorTempCoeff(n)     [(temp - tempNominal) (temp - tempNominal)^2 ... ]
   h.scaleFactorPositiveCoeff(n) [omega omega^2 ... ]
   h.scaleFactorNegativeCoeff(n) [omega omega^2 ... ]
   h.initialize (0 means initialize and apply the day-to-day uncertainties)
   
   Since version 2.
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   Form:
   h = RateGyro( h, w, dT, a )
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   ------
   Inputs
   ------
   h             (n)    Data structure for the gyros
   w             3,1)   Inertial body rate
   a             (3,1)  Inertial acceleration
   dT            (1,1)  Time step 

   -------
   Outputs
   -------
   h             (n)    Data structure for the gyros

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	References:	1. Lawrence, A., Modern Inertial Technology,
                  Spring-Verlag,1992.
               2. Merhav, S., Aerospace Sensor Systems and Appliations,             
                  Spring-Verlag,1996.
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