NevadaMark wrote:
With respect to the noise observation:
When making these types of observations, we have found that it is easier to drive to a solution when the observation is specific and in reference to an expectation, such as the information that is in the product's datasheet. In this case, the noise behaviors are condition-dependent, but are specified in Table 1 (page 3, 4) of the ADIS16480 datasheet. For example, in this table, you will find that when operating in the factory-default configuration for sample rate and filtering, the typical noise on the gyroscopes is 0.16deg/sec-rms. This means that the peak-to-peak behaviors (6.6 x rms for Gaussian noise distribution) will be on the order of +/-0.53 deg/sec. Before we dig too deep into this observation, can you quantify the noise and identify the sensor you are observing it on (x-axis gyroscope, for example)? Many thanks!
NevadaMark
We observed noise on the x, y, and z acceleration sensors (and the delta x/y/z velocity entries in the ADIS-EVAL software).
We would connect the ADIS16480 up to a PC with the evaluation software and used the software to record data for roughly 10 seconds. During this time, we would walk about 9 meters in a straight line. We then took the data and ran it through some code we made that performs simple kinematics operations on the accelerations. We found we would end up with a displacement ranging from 8 meters to 11 meters.
As for the specifics of the noise, when the device was left at rest and data was sampled for a few (~4) seconds, each sensor displayed noise. This noise was typically less than .01 m/s^2 (or it only existed in the thousandths place). A solution would then to only read through the hundredths place, I suppose, if you endorse that.
Thanks,
Ian