Implement three-axis gyroscope
GNC/Navigation
The Three-Axis Gyroscope block implements a gyroscope on each of the three axes. The measured body angular rates $$({\overline{\omega}}_{meas})$$ include the body angular rates $$({\overline{\omega}}_{b})$$, errors, and optionally discretizations and nonlinearizations of the signals.
$${\overline{\omega}}_{meas}={\overline{\omega}}_{b}\times {\overline{\omega}}_{SFCC}+{\overline{\omega}}_{bias}+Gs\times {\overline{\omega}}_{gsens}+noise$$
where $${\overline{\omega}}_{SFCC}$$ is a 3-by-3 matrix of scaling factors on the diagonal and misalignment terms in the nondiagonal, $${\overline{\omega}}_{bias}$$ are the biases, (Gs) are the Gs on the gyroscope, and $${\overline{\omega}}_{gsens}$$ are the g-sensitive biases.
Optionally, discretizations can be applied to the block inputs and dynamics along with nonlinearizations of the measured body angular rates via a Saturation block.
Select to apply second-order dynamics to gyroscope readings.
The natural frequency of the gyroscope. The units of natural frequency are radians per second.
The damping ratio of the gyroscope. A dimensionless parameter.
The 3-by-3 matrix used to skew the gyroscope from body axes and to scale angular rates along body axes.
The three-element vector containing long-term biases along the gyroscope axes. The units are in radians per second.
The three-element vector contains the maximum change in rates due to linear acceleration. The units are in radians per second per g-unit.
Specify the update rate of the gyroscope. An update rate of 0 will create a continuous gyroscope. If noise is selected and the update rate is 0, then the noise will be updated at the rate of 0.1. The units of update rate are seconds.
If you:
Update this parameter value to 0 (continuous)
Configure a fixed-step solver for the model
Do not have a Control System Toolbox™ license
you must also select the Automatically handle rate transition for data transfer check box in the Solver pane. This check box enables the software to handle rate transitions correctly.
Select to apply white noise to gyroscope readings.
The scalar seeds for the Gaussian noise generator for each axis of the gyroscope.
The height of the PSD of the white noise for each axis of the gyroscope. The units are (rad/s)^{2}/Hz.
The six-element vector containing three minimum values and three maximum values of angular rates in each of the gyroscope axes. The units are in radians per second.
Input | Dimension Type | Description |
---|---|---|
First | Three-element vector | Contains the angular rates in body-fixed axes, in radians per second. |
Second | Three-element vector | Contains the accelerations in body-fixed axes, in Gs. |
Output | Dimension Type | Description |
---|---|---|
First | Three-element vector | Contains the measured angular rates from the gyroscope, in radians per second. |
Anisoelastic bias and anisoinertial bias effects are not accounted for in this block. Additionally, this block is not intended to model the internal dynamics of different forms of the instrument.
Note: This block requires the Control System Toolbox product for discrete operation (nonzero sample time). |
Rogers, R. M., Applied Mathematics in Integrated Navigation Systems, AIAA Education Series, 2000.