Yaw Rate Sensor Drift?

[Andrew]

Originally Posted by EricS-Team180

Since we could not mount the sensor on the c/g, we had an inherrent error.

We used an analog devices yaw rate sensor last year in much the same way that you did (except for the dead band). For the very short time needed to feedback on heading (the 15 seconds of autonomy), the minor dither associated with the resolution of the ADC was not noticible. I'm pretty sure there is a signal processing algorithm to detect a constant bias from a stream of data which would have allowed us to null out even this minor annoyance.

BTW, the angular velocity of all points in a body is the same, regardless of location. The yaw rate sensor detects angular velocity about its measurement axis. Putting the sensor somewhere other than the c/g does not affect the measurement.