- Tue Dec 08, 2009 3:14 pm
#86754
I've been working with the 6DOF Razor and found that gyroscope bias behaves undesirably.
At zero angular rates the bias drift seems negligible; the on-board 0.034Hz 1st order HP filter is doing its job. However; during motion the bias drift seems to occor at a rapid rate; shifted by 1deg/s in just a second.
This plot should explain...
Blue trace = true angular rate measured with xsens MTx
Red trace = 6DOF Razor angular rate (gain is known to be accurate) using x-io Board: http://www.x-io.co.uk
I would concluded that the bias drift operates within the same bandwidth as the signal, therefore it is imposable to separate noise from signal!
I cannot find any mention or quantification of bias drift in the datasheet. Does anybody have any knoweldge or experience in this area?
At zero angular rates the bias drift seems negligible; the on-board 0.034Hz 1st order HP filter is doing its job. However; during motion the bias drift seems to occor at a rapid rate; shifted by 1deg/s in just a second.
This plot should explain...
Blue trace = true angular rate measured with xsens MTx
Red trace = 6DOF Razor angular rate (gain is known to be accurate) using x-io Board: http://www.x-io.co.uk
I would concluded that the bias drift operates within the same bandwidth as the signal, therefore it is imposable to separate noise from signal!
I cannot find any mention or quantification of bias drift in the datasheet. Does anybody have any knoweldge or experience in this area?