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By Denny Von Finn

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Typical for attitude control. Dr = 103 -10 4; good quality. often required in guidance systems. Dr = 10 4 -108 ; very high precision. required in long-range inertial navigation. 2. Characteristic with a random finite resolution and soft saturation. 1. PRINCIPLES AND ElEMENTS OF MEASUREMENT SYSTEMS 13 A broad in-depth inquiry into the strategic-and technological implications of high precision inertial sensors. in particular. gyroscopes. is given in (2). Bias. deatl zone. and saturation The value y( 0).

The device has soft saturation. 3. Saturation places upper bounds on the range {R} measurement device. The dead zone places lower bounds on its domain {D}. A characteristic with saturation and an infinite slope within the range R is a switching junction. An example of a device with a dead zone is a direct current electrical motor. the characteristic of which relates y = w (sec -1). its angular speed. with x = u (volt). its input voltage. Due to friction. the angular speed w is zero below a certain threshold value IU/hI.

For the input vector x ~ [Xl, X2, ... x nl T, and in the presence of measurement noise Vj. 9) where m and b are constants of unknown values. The objective is to find the best estimates mfor m and b for b from the measurements Zj. 10) mand b are constants to be determined. 11) is the linear regression line. Again. we define the error vector Ej = Zj - mxj + b i = 1. 2..... 18. ---. Zi 60 SO 40 1 +......... 18. 4). 12) By minimizing J with respect to m and b. 17) 1. 18) band m are the best least square estimates determined on the basis of the measurements of the input-output vectors x =[x 10 Z2,"" x nl T and z= [ZI, z2, ...

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