Wiki

Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revisionPrevious revision
Next revision
Previous revision
resources:eval:user-guides:inertial-mems:imu-overview [22 Jul 2021 21:54] – [(Angular) Rate Random Walk (ARRW)] Chas Frickresources:eval:user-guides:inertial-mems:imu-overview [31 Aug 2021 22:00] (current) – [Linear Acceleration Effect (Linear-g), Linear Acceleration Effect on Bias, Linear-g Rejection (Linear-g Sensitivity)] Chas Frick
Line 43: Line 43:
 Can be approximated with the formula: ND ≅ ARW/60* √2 Can be approximated with the formula: ND ≅ ARW/60* √2
  
-====== Linear Acceleration Effect (Linear-g) ====== 
-Measured in degrees/sec/g.  
  
 ====== Vibration Rectification Error (VRE) ====== ====== Vibration Rectification Error (VRE) ======
Line 50: Line 48:
  
 ====== Cross-Axis Sensitivity ====== ====== Cross-Axis Sensitivity ======
-Unintended effect where rotation/acceleration from one axis is detected on another axis+Unintended effect where rotation/acceleration from one axis is detected on another axis
 +Can be calculated from axis to axis misalignment error for accels/gyros: sin(axis to axis misalignment) in %
  
-====== Linear-g Rejection (Linear-g Sensitivity) ====== +Example: For the ADIS16448, the accel axis to axis misalignment is 0.2 degrees. Therefore Cross-axis sensitivity accel is sin(0.2) 0.197%. Gyro is sin(0.05) 0.09%. Magnetometer: sin(0.25) 0.247% 
-Unintended effect where linear acceleration is detected as rotation+ 
 +====== Linear Acceleration Effect (Linear-g), Linear Acceleration Effect on Bias, Linear-g Rejection (Linear-g Sensitivity) ====== 
 +Unintended effect where linear acceleration is detected as rotation. Measured in degrees/sec/g.  
 + 
 +====== Vibration Rejection (Gyros) ====== 
 +A combination of Linear-g and Vibration Rectification (VRE) specs. 
 + 
 +Vibration response of a gyro = Linear-g X-Axis Acceleration + (VRE X-Axis Acceleration)^2 
 + 
 +====== Additional Resources! ====== 
 +* Information on Allan Variance for Gyros: http://www.alexandertrusov.com/uploads/pdf/2011-UCI-trusov-whitepaper-noise.pdf
  
  
  
resources/eval/user-guides/inertial-mems/imu-overview.1626983648.txt.gz · Last modified: 22 Jul 2021 21:54 by Chas Frick