Path: SC/Sensor
% Single degree of freedom mechanical gyros.
To make a rate gyro set kF = h and k.*kF./cD >> 1
To make a rate integrating gyro set k = cD/h and k.*kF./cD << 1
Since version 1.
--------------------------------------------------------------------------
Form:
[dxdt,y] = SDG( u, h, cD, k, kF, w, x, bias, nU, nV, nE )
[a, b, c, d] = SDG( u, h, cD, k, kF )
--------------------------------------------------------------------------
------
Inputs
------
u (3,n) Gyro unit vectors
h (1,n) Angular momentum
cD (1,n) Damping
k (1,n) Forward gain
kF (1,n) Torque rebalance gain
w (3,1) Input rate vector
x (3n,1) State vector [Random Walk
Integral of inputs
Integral of outputs]
bias (1,n) Biases
nU (1,n) Bias drift noise
nV (1,n) Rate noise
nE (1,n) Output noise
-------
Outputs
-------
dxdt (3n,1) State derivatives
y ( n,1) Gyro output
or
a (3n,3n) State matrix
b (3n,3n) Input matrix
c ( n,3n) Measurement matrix
d ( n,3n) Feedthrough matrix
--------------------------------------------------------------------------
Back to the SC Module page