FRBwRIG:

Path: SpacecraftEstimation/StellarModels

% Simulates a spacecraft with rate integrating gyros.
   See also RIGModel and RBModel.

   Since version 3.
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   Form:
   xDot = FRBwRIG( x, t, inr, invInr, torque, uRIG, nRWRIG, nBRIG, betaRIG )
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   ------
   Inputs
   ------
   x            (7+2n,1)  State vector with integrated angle and bias
                          [q(4); w(3); a(n); b(n)]
   t                      Time
   inr          (3,3)     Spacecraft inertia matrix
   invInr       (3,3)     Spacecraft inverse inertia matrix
   torque       (3,1)     Body torque
   uRIG         (3,n)     Unit vectors for rate integrating gyros
   nWBRIG       (n)       Random walk noise for RIGs
   nBRIG        (n)       Bias drift noise for RIGs
   betaRIG      (n)       Bias Correlation time constant for RIGs

   -------
   Outputs
   -------
   xDot         (7+2n,1)  Derivative of the state vector

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Children:

AerospaceUtils: Coord/QIToBDot
SC: Dynamics/RBModel
SC: Sensor/RIGModel

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