کنفرانس مهندسی برق ایران

صفحه اصلی / سی و سومین کنفرانس بین المللی مهندسی برق

Propagation of Measurement Errors in the Euler Kinematic Equations

نویسندگان :

Mojtaba Fazelinia¹ Saeed Ebadollahi² Soheil Ganjefar³

1- Iran University of Science and Technology 2- Iran University of Science and Technology 3- Iran University of Science and Technology

کلمات کلیدی :

attitude determination،gyroscope،Euler angles،error analysis

چکیده :

This paper examines the propagation of gyroscope measurement errors in the mean and variance of state errors in integral attitude determination using Euler angle kinematics. The study focuses on deterministic errors, including bias and scale factor, as well as stochastic errors such as angle random walk (ARW) and rate random walk (RRW). A state-space model incorporating Euler angle errors is proposed for error propagation analysis, and the corresponding difference equations for their mean and variance are presented. Due to the high complexity of these equations, an analytical solution is not feasible in the general case; however, analytical solutions are provided under specific scenarios.

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