陀螺仪摇摆台测试
弄清楚产品IMU陀螺仪的动态性能。
产品三个轴分别进行摇摆测试。记录下，摇摆前静止两分钟，然后开始摇摆（角度：20°，频率：0.25Hz）两分钟，最后摇摆结束再静止两分钟的数据。通过MATLAB进行数据分析。
图1：陀螺仪X轴数据积分得到的角度
图2：陀螺仪Y轴数据积分得到的角度
图3：陀螺仪Z轴数据积分得到的角度
摇摆过程中，陀螺仪X、Y轴激发出了0.1deg/s的漂移（可能是零偏或比例因子正反转不一样），Z轴没有激发明显的漂移。陀螺仪三个轴的比例因子标定的还不错，在千分之一以内。陀螺仪Z轴要比X、Y轴性能要好不少。
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