IMU:

Path: SCPro/ProSensors

% Inertial measurement unit model.

 Assumes the input acceleration is in the inertial frame. It transforms
 it into the body frame. It accounts for the accelerometer offset from
 the center of mass.
--------------------------------------------------------------------------
   Form:
   d             = IMU;
   d             = IMU( 'initialize', d );
   output        = IMU( 'output', vDot, omegaDot, q, omega, integratedRate, randomWalk, d )
   randomWalkDot	= IMU( 'rhs', randomWalk, d )
--------------------------------------------------------------------------

   ------
   Inputs
   ------
   action      (1,:) 'initialize', 'rhs', 'output'
   accel       (3,1) Acceleration vector
   omegaDot    (3,1) Angular acceleration vector
   omega       (3,1) Angular rate vector
   q           (4,1) Quaternion from ECI to Body
   randomWalk	(6,1) Random walk vector [accel;rate]
   d           (.)   Data structure

   -------
   Outputs
   -------
   d           (.)   Data structure
   output      (6,1) Output vector [accel;rate]

--------------------------------------------------------------------------

Children:

Common: Quaternion/QForm
Math: Linear/Skew
Math: Linear/SkewSq

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