Function navtk::filtering::stim300_model

Function Documentation

ImuModel navtk::filtering::stim300_model()

Returns an IMU model for the STIM300, using the specs for the 10g accelerometers.

Note the large number of additional error terms not accounted for- it is unlikely that this model will perform well as is.

Spec sheet values given as:

Accel Bias: 0.05 mg = 4.905e-4 m/s^2

VRW: 0.06 m/s/sqrt(hr) = 1e-3 m/s^(3/2)

Gyro bias: 0.5 deg/hr = 2.4241e-6 rad/s

ARW: 0.15 deg/sqrt(hr) = 4.3633e-5 rad/s^(1/2)

Accel scale factor: 300 ppm

Gyro scale factor: 500 ppm

Accel Bias on/off: +/- 0.75 mg (valid only for 10g range setting; parameter scales with range)

Additional terms given but not modeled here:

Gyro non-linearity: 25 to 50 ppm (at 200/400 deg/sec, respectively)

Gyro Bias range: +/- 250 deg/hr

Gyro Bias over static temp: 5 deg/hr

Gyro bias over changing temp: 10 deg/hr for temp change <= 1 deg C/min

Gyro bias drift due to acceleration: 1 deg/hr/g (assuming ‘g-compensation’, see spec sheet)

Gyro scale factor due to acceleration: 30 ppm/g (assuming ‘g-compensation’, see spec sheet)

Gyro sensor misalignment: 1 mrad

Accel non-linearity: 100 ppm

Accel Bias over temp: +/- 2 mg (rms)

Accel sensor misalignment: 1 mrad