4.3.1 Noise

Noise is a problem for the accelerometer, magnetic field, and angular rate sensor triads. The noise may be generated by the sensor electronics, or other electronic systems surrounding the conversion and sensor hardware. Also, noise may be introduced by electromagnetic fields in the environment. Since the vehicle moves slowly relative to the 220 Hz update rate for the sensors, a simple averaging algorithm is used.



The data in this thesis was collected with the sensors averaging over the last 10 measurements. The next average is calculated from (4.26) every 10 measurements.