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IMU Variance measurements

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jdavidberger edited this page Feb 27, 2022 · 2 revisions

Allan Variance

T20

This was measured on a tundra tracker

Measured with this

acceleration gyro allan_variance.csv

ACCELEROMETER:
X Velocity Random Walk:  0.00104 m/s/sqrt(s)  0.06218 m/s/sqrt(hr)
Y Velocity Random Walk:  0.00273 m/s/sqrt(s)  0.16354 m/s/sqrt(hr)
Z Velocity Random Walk:  0.00270 m/s/sqrt(s)  0.16171 m/s/sqrt(hr)
X Bias Instability:  0.00024 m/s^2  3118.26024 m/hr^2
Y Bias Instability:  0.00103 m/s^2  13330.91520 m/hr^2
Z Bias Instability:  0.00090 m/s^2  11650.21186 m/hr^2
X Accel Random Walk:  0.00009 m/s^2/sqrt(s)
Y Accel Random Walk:  0.00015 m/s^2/sqrt(s)
Z Accel Random Walk:  0.00016 m/s^2/sqrt(s)
GYROSCOPE:
X Angle Random Walk:  0.00793 deg/sqrt(s)  0.47574 deg/sqrt(hr)
Y Angle Random Walk:  0.00653 deg/sqrt(s)  0.39208 deg/sqrt(hr)
Z Angle Random Walk:  0.00789 deg/sqrt(s)  0.47313 deg/sqrt(hr)
X Bias Instability:  0.00178 deg/s  6.41319 deg/hr
Y Bias Instability:  0.00182 deg/s  6.55164 deg/hr
Z Bias Instability:  0.00211 deg/s  7.59573 deg/hr
X Rate Random Walk:  0.00029 deg/s/sqrt(s)
Y Rate Random Walk:  0.00051 deg/s/sqrt(s)
Z Rate Random Walk:  0.00039 deg/s/sqrt(s)
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