In the attitude control design, it is desired that the system is stable and the excursions of the

angular rate and control input are minimized.

Silicon Sensing Systems announced its CRG20 and CRS09 miniature

angular rate sensors.

Generally, the Earth rate [[omega].sub.ie], gravity acceleration g, and input

angular rate of inertial turntable [OMEGA] are regarded as references, which are compared with outputs of accelerometers and gyros of IMU.

Today's designs are all of a class of gyros known as vibrating Coriolis-effect sensors, and they operate by establishing a vibrating linear momentum in space which resists motion when rotating, resulting in a secondary vibration that is detected and converted to

angular rate. This type of gyro is well known and has been used in aerospace applications since the 1950s.

Figures 3 and 4 present the LOS

angular rate and the Defender acceleration.

Analog Devices has introduced what are said to be the smallest

angular rate sensing gyros available.

where [T.sub.a] represents the time constant of the armature circuit; [[??].sub.e] represents the coefficient of proportionality between the electromotive force and the

angular rate of the motor; [k.sub.PWM] represents the transfer constant of the linearized PWM; [U.sub.PWMi] represent voltages at PWM input.

The miniature ARS PRO

angular rate sensor by DTS is designed to capture precision

angular rate data, even in high-energy environments including blast protection and crash testing.

where [[mu].sub.0]--constant coefficient, which is determined experimentally; d[[phi].sub.H](t)/dt and d[[psi].sub.H] (t)/dt--hull

angular rate in elevation and azimuth axes.