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

From: Prof. Dr.-Ing. Heinrich Warmers
Subject: Re: [Paparazzi-devel] Temperature compensation of rate sensors
Date: Thu, 14 Mar 2013 16:12:31 +0100
User-agent: Mozilla/5.0 (Windows; U; Windows NT 5.0; de-DE; rv:1.4) Gecko/20030619 Netscape/7.1 (ax)

i made a new warm up experiment:
                     accel.      x y rate  last temperatur of the die  x 62,510E-10   in Volt  4mV/°C
20,6°C    x  26310    21808
                y   26680   21620
                z  31710    18081 temperature of the IDG500

25°C         26307       21841
                 26673       21598
                 31680       18350

30°C        26280         21870
                26648         21555
                31645         18620

35°C      26248          21902
               26650         21502
               31577         18908

40°C      26230            21959
               26641           21446
               31523           19200

Therfore we get   for the accerlatiometers
x     -4/°C
y     -1.95 /°C
z     -9.35 /°C

and for the rate sensors

x    7.55/°C
y   -8.7/°C

I think that a impementation  of  bias  correction will   help.
Six constants  multiplication's  and addition's


Sergey Krukowski schrieb:

I don’t have much experience with the latest paparazzi DCM ahrs, but worked with the initial dcm implementation and actually came to the same solution – measuring and modelling the rate sensors temperature drift. But the solution is really annoying, needs lot of handwork.

Have you tried the cmpl_quat ahrs? There is also of centrifugal force compensation implemented and from my experience (based however on rotorcrafts basically) works well. If you are sure you don’t have significant accelerometer drift could carefully try it.




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