|Subject:||Re: [Paparazzi-devel] Temperature compensation of rate sensors|
|Date:||Thu, 14 Mar 2013 23:10:53 +0100|
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
30°C 26280 21870
35°C 26248 21902
40°C 26230 21959
Therfore we get for the accerlatiometers
y -1.95 /°C
z -9.35 /°C
and for the rate sensors
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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