Computation of Inertial Signals on Rotational Testbeds
INERTIAL 2024 - 11th IEEE International Symposium on Inertial Sensors and Systems, Proceedings
Rotational testbeds are ubiquitous in the test and evaluation of inertial sensors and systems. However, the use of rotational testbeds is typically restricted to static states employed over long integration windows to allow for data aggregation. These methods ignore the transitions between states, and data aggregation masks potentially useful signals. In this paper, we discuss the development of modular equations for the description of the inertial inputs to a test sensor using any rotational testbed. Implementing our equations in software, specific force and angular rates can be computed from idealized table motion or measured encoder data. Results are presented using simulated data and measured data. The measured data was acquired using a three axis rate table and a MEMS IMU. The experimental results validate our model equations and demonstrate the benefits of modeling sensor inputs at the sensor rates to compensate for testbed errors.