Changes between Initial Version and Version 1 of Sensors/IMUandGPS


Ignore:
Timestamp:
Jul 13, 2009 7:41:11 PM (10 years ago)
Author:
mggr
Comment:

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  • Sensors/IMUandGPS

    v1 v1  
     1== General principle ==
     2
     3IMU captures attitude of the aircraft in real time, about 20x (200x?) a second.
     4 * ''there is some variable error in this measurement, particularly if the IMU isn't shaken up regularly''
     5
     6GPS receiver records signals from the visible GPS satellites, allowing a position fix approximately every second (?)
     7
     8In postprocessing, the position information is normally combined with a fixed ground station to remove/reduce local error.  Position fixes are still once every second or so.
     9
     10Following this, the IMU and GPS information are combined to produce an SBET (Smoothed Best EsTimate) file, which uses the IMU information to interpolate a predicted best path through the GPS position samples.  This path will not necessarily be the true path.  The SBET contains the interpolated navigation at high resolution and has inextricably mixed the GPS and IMU information.