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Input Axis Flux Plates Capacitive Pickoffs Pendulous , . Axis Proofmass Springs Pendulum Figure 1.2: Simplified
Input Axis
Flux
Plates
Capacitive
Pickoffs
Pendulous
,
.
Axis
Proofmass
Springs
Pendulum
Figure 1.2:
Simplified Pendulous Accelerometer Cross Section
a.c. signal passing through the bridge circuit. The shifted signal is then demodulated and
used in the servo loop to generate the restoring current. The pendulum is forced back to
its null position and the restoring current is measured.
1.2.3 Errors in Accelerometers
Although accelerometers are designed for linearity, there are many sources of
error that prevent a simple linear relationship between the input acceleration and the
restoring current.
Some error sources appear in both strapdown systems and gimbaled
systems. These errors include biases, scale factors, g-squared terms, misalignments, and
higher order terms. Other error sources are dynamic in nature and only appear in
strapdown systems. These dynamic error sources include anisonertia terms, output axis
coupling terms, and size effects. Still other error sources are introduced when testing or
2.2.1 Test Table The test table used in the simulation is a three-axis motion simulator. The
2.2.1
Test
Table
The test table used in the simulation is a three-axis motion simulator. The three
orthogonal axes allow control over the dynamic motion of the INS system, which is
rigidly mounted inside the innermost gimbal of the table.
Figure
2.4 is a picture
of a
typical three-axis gimbal test table.
Mounting
Plate
Pitch
Figure 2.4: Three-Axis Gimbal Test Table
Figure 2.4 shows that the outer, middle, and inner gimbals control deflections about the
yaw, pitch, and roll axes, respectively. For the configuration shown, the yaw and roll
angles are zero and the pitch angle is 90 degrees.
The control inputs to the test table were individual gimbal angular accelerations.
By controlling the gimbal angular accelerations, a wide range of angular motions for the
system inside the test table were developed. The type and limitations of the specific table
assumed for this thesis are detailed in Section 3.1.2.