Error model of triaxial angular velocity sensor

The paper deals with the analysis of triaxial angular velocity sensor installed in IMU MNAV10CA. Sensor analysis is used to create a sensor model that includes sensor errors in individual axes as well as errors caused by a three-axis sensor design as a non-orthogonal error or misalignment. The authors of the article discuss the sequence of creating an error model, thanks to which it is possible to analyze interfering components in a useful sensor signal. The created model can then be used in the overall model of a small unmanned aircraft to increase its stability and controllability. Allan variation will be used to analyze the sensor noise processes.