The Equations of Motion

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The Equations of Motion

• Euler angle rate equations

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Sensors

• Acceleration Measurement
• ADXL105EM-3 (Triple axis accelerometer)
• Range 4g
• Sensitivity 500mv/g
• Operating Voltage 5 V DC

• Rate Measurement
• Microgyro 100 (Dual axis rate gyroscope)
• Range 100/sec
• Sensitivity 1.1 x 10-3 mV/ degree / sec
• Operating Voltage 5 V DC

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Electronics

• TFX -11 (DATA LOGGER AND ADC)
• 12 bit ADC
• Non-Hold and Sample type
• 11 12-bit channels and 8 8-bit channels
• Operation Voltage 05 V
• 24 Digital I/O ports
• 512 K Data storage memory (SFLASH)

• Other Electronics Used
• Salen-Key Filter (Low Pass) - 5 Hz
• Non-Inverting Amplifier to increase sensitivity
  of rate gyros

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INS System Description
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Sensitivities, Ranges and Calibrations

• Acceleration Measurement
• Sensitivity - 1 g corresponds to around 500 mV
• 4g is mapped 0.5 4.5 V (for mean 2.5 V)

• Rate Measurement
• Sensitivity - 1 degree/sec corresponds to 1.1
  mV
• 100/sec is mapped to a band of 220 mV about
  mean

Operable region by data logger constraint 0
5 V
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Simulation Structure
INPUTS ax , ay , az p , q , r
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Effect of Resolution
Amplification of rates 20 Amplification of
accel. 1 All the parameters set to 0
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Proposed Changes

• Amplification of rate sensor signals by around
  20.
• Amplification of accelerometer signal by around
  2.5
• Increasing resolution of ADC from 12-bit to
  16-bit

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REALIZATION

• Stepping down to zero. Can it be done
  accurately?
• Amplification. Will it add noise?
• Possibility of alteration of accelerometer range
  online.
• Other problems or aspects.