An Overview of Dynamic and Stochastic Modeling of Gym

George W. Erickson

Abstract:	The inertial systems community has been using various means of estimating gyro model equation parameters, including gyro dynamics and random drift characteristics for many years. Modern methods, facilitated by advances in digital signal processing since 1%5, have been used effectively, but are not well known outside system analysis circles. To encourage broader use and standardization, the Gyro and Accelerometer Panel of the IEEE AESS is introducing an organized approach to modeling based on the most popular methods, to be first presented in the revised IEEE Std 647, Soecilication Format Guide and Test Procedures for Single Axis Laser Gvros. The following discussion is therefore offered as an introductory overview of dynamic and stochastic modeling. The significance of this is the application to gyro modeling, simulation, Kalman filter design, error analysis, performance specification, prediction and evaluation. The general form of the model consists of a mathematical statement of the physical plant equations; an error model consisting of a perturbation model and environmental sensitivities; a stochastic model describing random drift behavior; and a measurement model consisting of a linear combination of the output states and additive measurement noise. This is related in a generic form of gyro model equation, consisting of the response to inertial inputs, environmental sensitivities, drift rate and scale factor error contributors. Methods of determining input/output characteristics are briefly discussed. Stochastic modeling via time series analysis is introduced, including frequency domain and time domain methods. Emphasis is placed on application of the Allan Variance and PSD. An approach to test and analysis is presented. Data acquisition, data reduction, preprocessing, and evaluation of results are discussed. The reader is directed to the chronological bibliography for further information.
Published in:	Proceedings of the 1993 National Technical Meeting of The Institute of Navigation January 20 - 22, 1993 Parc 55 Hotel San Francisco, CA
Pages:	339 - 351
Cite this article:	Erickson, George W., "An Overview of Dynamic and Stochastic Modeling of Gym," Proceedings of the 1993 National Technical Meeting of The Institute of Navigation, San Francisco, CA, January 1993, pp. 339-351.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In