Author Topic: Questions about Allan Variance for INS ( Gyroscope, Accelerometer )  (Read 1231 times)

0 Members and 1 Guest are viewing this topic.

Offline ammjyTopic starter

  • Regular Contributor
  • *
  • Posts: 160
  • Country: kr
Hello, EEVBlog peoples !

Always Thanks you for your help.

in this moment, i should calculate the Allan Variance from logging data of INS to estimate error.

i recorded Gyroscope and Accelerometer, Temperature datas for 97 minute without any movement.

and now i following Matlab reference to obtain Tau-sigma graph.
( https://kr.mathworks.com/help/fusion/examples/inertial-sensor-noise-analysis-using-allan-variance.html )

Sampling time is 97.1061 minute. (from 91.98 sec till 5918.346 sec)
Total number(length) of data is 836185.

but, i can't understand what is a Fs.
Anyone know about it ?

i attached screenshot of page.
(That page support Example for that. but, unfortunately, my student version Matlab 2017b has not that example... )

Please, let me know !
« Last Edit: March 31, 2019, 03:42:50 pm by ammjy »
 

Offline awallin

  • Frequent Contributor
  • **
  • Posts: 694
Re: Questions about Allan Variance for INS ( Gyroscope, Accelerometer )
« Reply #1 on: March 31, 2019, 03:53:48 pm »
Fs is the sample-rate, and its inverse t0=1/Fs is the time-interval between data points.
 
The following users thanked this post: ammjy

Offline ammjyTopic starter

  • Regular Contributor
  • *
  • Posts: 160
  • Country: kr
Re: Questions about Allan Variance for INS ( Gyroscope, Accelerometer )
« Reply #2 on: March 31, 2019, 03:59:39 pm »

Thanks you for your time, Awallin.

then, might be i can use recorded time data to sample rate FS !

Regard,
ammjy
 

Offline awallin

  • Frequent Contributor
  • **
  • Posts: 694
Re: Questions about Allan Variance for INS ( Gyroscope, Accelerometer )
« Reply #3 on: March 31, 2019, 04:29:53 pm »
then, might be i can use recorded time data to sample rate FS !

t0 = "recorded time 97mins" / "number of data points"
Fs = 1/t0
 
The following users thanked this post: ammjy

Offline ammjyTopic starter

  • Regular Contributor
  • *
  • Posts: 160
  • Country: kr
Re: Questions about Allan Variance for INS ( Gyroscope, Accelerometer )
« Reply #4 on: April 01, 2019, 05:53:47 am »

Good day, Awallin !

thanks to, i got result.

i appreciate for your kind help, again !
 


Share me

Digg  Facebook  SlashDot  Delicious  Technorati  Twitter  Google  Yahoo
Smf