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.

Computation of Inertial Signals on Rotational Testbeds

The general precision uncertainty of a centrifuge is suggested here to determine whether a precision centrifuge is suitable to calibrate inertial sensors. The possible centrifuge errors that affect the accuracy of the specific input forces are analyzed with three kinds of centrifuge errors identified: displacement error, angular rate error, and attitude error. Taking an accelerometer’s calibration on a centrifuge as an example, the specific force components for the three axes of a tested accelerometer are acquired using a homogeneous transformation algorithm. The impact of the uncertainty for each kind of error source on the specific force is calculated, and their contributions to the general uncertainty of the centrifuge are acquired. Through simulation, by limitation of the tolerances towards the centrifuge errors, the general uncertainty of a precision centrifuge is designed to satisfy the requirements of the pre-design in 6×10−6. And the influence of the general uncertainty on calibration accuracy of error model coefficients of accelerometer is calculated, mostly on C op . The influence of the error which accounts for a large part of the general uncertainty on the calibration accuracy is mainly studied. Simulation results show with the increase of the general uncertainty of centrifuge, its influence on the calibration accuracy of error model coefficient is greater. And when the general uncertainty is constant, the influence of the general uncertainty on the calibration accuracy can be reduced by increasing the input specific force.

General uncertainty analysis and synthesis for a precision boomed centrifuge

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General uncertainty analysis and synthesis for a precision boomed centrifuge