Path: SC/Sensor
% Computes the output of a rate integrating gyro package.
dang/dt = w + b + nRW*randn
db/dt = -beta*b + nb*randn
Includes a random walk and bias drift model.
The drift noise can be correlation
This routine does not check inputs.
The state vector is [angle; bias]
Since version 1.
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Form:
dxdt = RIGModel( u, w, b, nRW, nB, beta )
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Inputs
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u (3,n) Unit vectors for the gyro axes in body axes
w (3,1) Body rates
b (n) Bias rate
nRW (n) Bias 1 sigma noise (random walk)
nB (n) Bias 1 sigma drift noise
beta (n) Bias correlation time constant
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Outputs
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dxdt (2n) [AngularRate dBias/dt]
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