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𝑠𝑖𝑛𝐴 𝑠𝑖𝑛𝐼 𝑐𝑜𝑠𝐼 Ωcosϕ
19
GXYZ-ZG2
3-axis, stationary: z gyro g-dependent error 2
S
S
0
0
𝑡𝑎𝑛𝜙 𝑠𝑖𝑛𝐴 𝑠𝑖𝑛𝐼 𝑐𝑜𝑠𝐼
20 21
GXYZ-SF GXYZ-MIS
3-axis, stationary: Gyro scalefactor 3-axis, stationary: Gyro misalignment
S S
S S
0 0
0 0
1 cosϕ
𝑠𝑖𝑛𝐴 Ω cosϕ cosI
22
GXY-B1
2-axis, stationary: xy gyro bias 1
S
S/R
0
0
𝑐𝑜𝑠𝐴 Ωcosϕ
23
GXY-B2
2-axis, stationary: xy gyro bias 2
S
S/R
0
0
24
GXY-RN
2-axis, stationary: xy gyro random noise
S
R
0
0
√1−𝑐𝑜𝑠 2 𝐴. 𝑠𝑖𝑛 2 𝐼 Ωcosϕ cosI
𝑓.
𝑐𝑜𝑠𝐴 𝑠𝑖𝑛𝐼 Ωcosϕ 𝑐𝑜𝑠𝐴 𝑐𝑜𝑠𝐼 Ωcosϕ
25
GXY-G1
2-axis, stationary: xy gyro g-dependent error 1
S
S
0
0
26
GXY-G2
2-axis, stationary: xy gyro g-dependent error 2
S
S/R
0
0
𝑠𝑖𝑛𝐴 Ωcosϕ
27
GXY-G3
2-axis, stationary: xy gyro g-dependent error 3
S
S/R
0
0
𝑠𝑖𝑛𝐴 𝑡𝑎𝑛𝐼 Ωcosϕ
28
GXY-G4
2-axis, stationary: xy gyro g-dependent error 4
S
S
0
0
𝑡𝑎𝑛𝜙 𝑠𝑖𝑛𝐴 𝑡𝑎𝑛𝐼
29 30
GXY-SF
2-axis, stationary: Gyro scalefactor 2-axis, stationary: Gyro misalignment
S S
S S
0 0
0 0
1 cosϕ cosI
GXY-MIS
31 32 33
EXTREF EXTTIE EXTMIS
External reference error
S S S
S S S
0 0 0
0 0 0
1 1
Un-modelled random azimuth error in tie-on tool
1 sinI
Misalignment effect at tie-on
∆𝐷 𝑖 𝑐
34
GXYZ-GD
3-axis, continuous: xyz gyro drift
C
S
0
0
ℎ 𝑖 =ℎ 𝑖−1 +
35
GXYZ-RW
3-axis, continuous: xyz gyro random walk
C
S
0
0
∆𝐷 𝑖 𝑐
ℎ 𝑖 =√ℎ 𝑖−1 2
+
1
∆𝐷 𝑖 𝑐
36
GXY-GD
2-axis, continuous: xy gyro drift
C
S
0
0
ℎ 𝑖 =ℎ 𝑖−1 +
𝐼 𝑖−1 +𝐼 𝑖 2
𝑠𝑖𝑛 (
)
37
GXY-RW
2-axis, continuous: xy gyro random walk
C
S
0
0
1
∆𝐷 𝑖 𝑐
ℎ 𝑖 = √ ℎ 𝑖−1 2
+
.
𝐼 𝑖−1 +𝐼 𝑖 2
𝑠𝑖𝑛 (
)
1
∆𝐷 𝑖 𝑐
38
GZ-GD
z-axis, continuous: z gyro drift
C
S
0
0
ℎ 𝑖 =ℎ 𝑖−1 +
𝐼 𝑖−1 +𝐼 𝑖 2
𝑠𝑖𝑛 (
)
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