The Influence of Body Structure Vibration on Sensor Performance

Accelerometer and gyro Sensor are sensitive to vibration. In the X650, we tested the sensor output signals with and without cushion blocking:

Test environment as follows: the X650 fixed on the ground (with propeller), set 1 / 3 throttle, collected AHRS output data.

X650 AHRS Pitch&Roll Angle output(without cushion blocking):

X650 AHRS Pitch&Roll Angle output(with cushion blocking):

As the pics shown, the steady output in front means the motor does not start, the final output means motor is turned off. It can be seen the output angle error of AHRS change from + - 1 degree(without cushion blocking) to + -0.2 degrees(with cushion blocking).

Angular Rate Output(without cushion blocking):

Angular Rate Output(with cushion blocking):

The angular rate amplitude reduced by nearly 5 times with damping.



Acceleration Output(without cushion blocking):

Acceleration Output(with cushion blocking):

It can be seen, vibration put the biggest impact on Z-axis, also the amplitude reduced by nearly 5 times with cushion blocking.

Shock absorption is necessary for stable flight, must pay attention to the cushion blocking installation, and check the damping system before flight.