rotation error
The error caused by the change of the specific force direction in space during the solution time period
paddling error
Some conditions of the carrier in the actual movement are very similar to the paddling motion in real-life rowing: on the one hand, the oars make reciprocating angular motion around the horizontal axis of the hull, and on the other hand, the hull and the oars make intermittent motions along the longitudinal axis. Sexual acceleration line movement. It can be seen that the oars have periodic angular motion and linear motion during the rowing process, so this kind of motion is called sculling motion vividly, and the phenomenon of non-exchangeable errors caused by sculling motion is called Paddle effect.
compensation formula
Compensation source code
/* Sculling compensation function -------------------------------------------------
* Sculling compensation function
* args : double *imu I matrix imu (2 x 6)
* return : dvbm O velocity increment after rotation & sculling compensation
*-----------------------------------------------------------------------------*/
extern double* scu