Hi,
I'm tryng to set up the simulation of a gyroscope, and I'm interested in the stochastic errors only. To do so, I identified on the Allan variance curve the following parameters that I can then set in the the gyroparams for simulation: - NoiseDensity (Angle Random Walk), generally noted N in the litterature
- BiasDensity (Bias instability), generally noted B
- RandomWalk (Rate Random Walk), generally noted K
There parameters are sufficient to launch a simulation of the stochastic errors with a gyro sensor model in Matlab.
However, following the reference [1], there is also the parameter Bias correlation time noted T that can be measured on the Allan variance curve, but I can't find how to specify it in the gyroparams. I have therefore two questions:
- Does the fact that we can't specify this bias correlation time comes from the fact that Bias is modelled differently in Matlab (instead of a first-order Gauss-Markov model)?
- Is there a way to incorporate this parameter to the simulation still?
Thank you.
[1] J. A. Farrell, F. O. Silva, F. Rahman, and J. Wendel, “Inertial Measurement Unit Error Modeling Tutorial: Inertial Navigation System State Estimation with Real-Time Sensor Calibration,” IEEE Control Syst., vol. 42, no. 6, pp. 40–66, Dec. 2022, doi: 10.1109/MCS.2022.3209059.
