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The gyro error state vector xg discussed below has dimension thirty-nine The potential state order could be higher depending on the dynamic model that is appropriate for each state element (eg, random constant, scalar Gauss-Markov) In any particular application, the entire vector xg may not be required; instead, the designer must determine which error terms have a signi cant e ect on performance Those terms must be identi ed either in the laboratory or during on-line operation Bias Error (3 States) De ne the the augmentation state component to model gyro bias as xbg = bg The partial derivative of Tp with respect to xbg is Tp = I xbg (11135)
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In this amplifier, the capacitors must have values large enough to allow the ac signal to pass with ease But they shouldn t be much larger than the minimum necessary for this purpose If an 01- F capacitor will suffice, there s no point in using a 47- F capacitor That would introduce unwanted losses into the circuit, and would also make the circuit needlessly expensive to build The ideal capacitance values depend on the design frequency of the amplifier, and also on the impedances at the input and output In general, as the frequency and/or circuit impedance increase, less and less capacitance is needed At audio frequencies, say 300 Hz to 20 kHz, and at low impedance, the capacitors might be as large as 100 F At radio frequencies, such as 1 MHz to 50 MHz, and with high impedances, values will be only a
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116 AUGMENTED STATE EQUATIONS Scale Factor and Misalignment Error (9 States) SFg g , which has the structure p SFp gpr gpq SFq gqp Ag = gqr grq grp SFr
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