Path: SC/Sensor
% Simulate a MEMS gyro
This is the right hand side for the gyro. It also returns rate and angle.
You can have any number of gyros. Flicker is a Markov process. The bias
random walks. The constants can be the same for each gyro or different.
--------------------------------------------------------------------------
Form:
[xDot,rate] = RHSMEMSGyro(x,t,d)
--------------------------------------------------------------------------
------
Inputs
------
x (3*n,1) [angle;bias;flicker]
t (1,1) Time (s) (not used)
d (.) Data structure
.angleNoise (1 or n,1) Angle noise
.biasNoise (1 or n,1) Bias noise
.flickerNoise (1 or n,1) Flicker noise
.flickerTau (1 or n,1) Flicker time constant
.rate (n,1) Angular rate (rad/s)
-------
Outputs
-------
xDot (3*n,1) d[angle;bias;flicker]/dt
rate (3*n,1) Angular rate
--------------------------------------------------------------------------
Back to the SC Module page