 T3

### Investigation: Procerus claims Coriolis force correction for IMU...

"

Roll and pitch estimation corrected for coriolis forces

(10% to 25% improved roll and pitch estimates)

"

According to

http://en.wikipedia.org/wiki/Coriolis_effect $\boldsymbol{ a}_C = -2 \, \boldsymbol{ \Omega \times v}$

assume aircraft diving at 20m/s in earth reference frame

|ac|=2*7.27e-5*20=0.003[m/s^2]=3e-4[G]

assume we have 16bit ADC which covers 100% range of the useful voltage (overly optimistic),

and the accelerometer is quite sensitive with 6G full span (+/-3G) (overly optimistic, procerus claims +/-10G).

Therefore 6G is divided into 65536 counts.

3e-4G equals then to around 3 ADC counts which is below noise level of most

accelerometers which would be around 2^4, by eye.

Therefore coriolis acceleration is barely detectable (you can attach a plane to the rails, push it down, and the only deviating force will be at most those poor 2-4 counts on extremely sensitive ADC, overswamped by natural sensor noise).

How did they come to 10%/25%?

Where is an arorr in my calculation?