Path: SC/Sensor
% Model a hemispherical resonating gyro. Includes all noise sources
and temperature dependence. The data structure is:
hRGDS(1) = struct('angle' , 0,...
'measurement' , 0,...
'temp' ,300,...
'tempNom' ,300,...
'unitVector' , [1;0;0],...
'biasDrift' , 0.006*degToRad,...
'biasDriftT' , 0.044*degToRad,...
'biasDriftU' , 0.00028*degToRad,...
'angleDepDrift' , 0.37*degToRad,...
'angleDepDriftT' , 0.0044*degToRad,...
'angleDepDriftU' , 0.0045*degToRad,...
'angleRandomWalk', 0.000065*degToRad/60,...
'scaleFactor' , 1.0,...
'scaleFactorU' , 0.02,...
'scaleFactorT' , 0.11,...
'resolution' , degToRad/3600,...
'initialize' , 0 );
Since version 2.
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Form:
hRGDS = HRG( hRGDS, w, dT )
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Inputs
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hRGDS (:,:) Data structure for the gyros
w (3,1) Inertial body rate
dT (1,1) Time step (sec)
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Outputs
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hRGDS (:,:) Data structure for the gyros
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