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Re: [Paparazzi-devel] Temperature compensation of rate sensors

From: Hector Garcia de Marina
Subject: Re: [Paparazzi-devel] Temperature compensation of rate sensors
Date: Thu, 14 Mar 2013 09:13:35 +0100

In my experience, just spend one afternoon in the calibration process.

Heat the oven up to 55 degrees and switch it off, put your electronics inside. Start to log your sensors, 
once you reach the room temperature, put your electronics in a fridge/freezer (down to -5?).

The behavior of the readings with the temperature should be almost linear. Compute the slope and the off-set (bias).
Do the whole process again (as many times as you can, but with only one should be enough). 

Make a simple routine for interpolation or extrapolation.

Also you can fit your curve to a quadratic one, that depends on you, but the Kalman filter should take care about this deviations.

On Thu, Mar 14, 2013 at 1:11 AM, Chris Gough <address@hidden> wrote:
> is there a need for temperature compensation of the invensense rate sensors?
> By applying a temperature jump of 20°C  i found a  bias error  of  4°/s and
> the AHS fails.
> Other projects made a temperature  or bias compensation.

Once it warms up, does your temperature/bias remain reasonably constant?

I'm asking because, with another project's autopilot, we found that we
needed a preflight procedure to solve this problem: let the board come
up to temperature for a few minutes then reboot it.

Are you aware of another project's autopilot with a temperature/bias
compensation that actually works?

Chris Gough

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