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Old Feb 06, 2009, 07:35 PM
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Lakewood, Colorado
Joined Aug 2002
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Nice demonstration of the geometric drift problem inherent in gyros.
If you had a two axis gyro instead of gyro and two accelerometers
you'd find both the pitch and yaw off center at the end of that test.
I agree there should be some way to compensate for it by
looking at roll, but if roll is measured by accelerometer
then it becomes less accurate the further from level your pitch is.
I tried to work it out on paper once using 3 gyros
and it just seemed to be an endless feedback loop. Every
movement had a source of error that required a compensation
that had it's own source of error that had to be corrected itself with
another compensation.

ian
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