Accelerometer Bias Simulation:
INSDEM06 is a demo included in the toolbox which extends the single channel simulation of INSDEM05 to a full three dimensional simulation. Again, a static vehicle is located at 45 degrees north latitude and is pointed north. A 100 micro-g bias is placed on the north accelerometer. The result of the simulation shows the cross-coupling effects:



Errors can also be observed in the computed attitude. The pitch error is dominant as would be expected with a north accel bias on a vehicle pointed north. However, the error couples into the other two axes as well:


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