![]() SMART_BATTERY.battery – the battery level in percent.OSD.flycState – the flight control mode (P-GPS, ATTI, RTH, autoland etc.).The result, which is easy to replicate since the raw sensor data are available, is that after just a few tens of seconds of flight the inertial solution ends up noticeably incorrect. ![]() In practice it doesn't work with these kinds of IMUs, due to bias (zero offset errors) and drift (small changes in sensor gain), which lead to errors in the integrated quantities. ![]() In theory, given an initial position and heading, transformation of the accelerometer and rate gyro data into the earth frame of reference followed by integration with respect to time yields velocity and displacement as a function of time - pure inertial navigation. Anyone with a cursory familiarity with basic mathematics will note that there is, therefore, redundancy in the flight data. At the simplest level, the aircraft have either one or two MEMS strapdown IMU packages that comprise 3-axis accelerometers and rate gyros, together with 3-axis magnetometers (compass), a barometric sensor, and a GNSS module that receives GPS and GLONASS signals. Exactly how these flight control systems work is a rather deep and arcane subject.
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