Path: SC/Sensor
% Model of a rate integrating gyro measurement.
This can model a wide variety of rate integrating gyros.
This must be called by the integrator as
xDot = MeasRateIntegratingGyro( x, t, d )
and to get the measurements
y = MeasRateIntegratingGyro( x, d )
When called as a right hand side it only updates those states that are
gyro states.
You enter a scale factor in the data structure.
The noise parameters should be set to zero if used as part of a
Kalman filter.
If no inputs are given it will return the default data structure.
Since version 11.
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Form:
xDot = MeasRateIntegratingGyro( x, t, d )
y = MeasRateIntegratingGyro( x, d )
d = MeasRateIntegratingGyro
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Inputs
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x (n,1) State vector
t (1,1) Time
d (1,1) Data structure
.kRate (1,m) Rate states
.kAngle (1,m) Angle states
.kBias (1,m) Bias states
.scale (m,1) Scale factor
.noiseAngle (m,1) 1 sigma angle noise
.noiseRate (m,1) 1 sigma rate noise
.noiseBias (m,1) 1 sigma bias noise
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Outputs
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y (m,1) Measurements
xDot (m,1) Derivatives
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