Implement three-axis gyroscope

**Library:**Aerospace Blockset / GNC / Navigation

The Three-Axis Gyroscope block implements a gyroscope on each of the three axes. For more information on the measured body angular rates, see Algorithms.

Optionally, to apply discretizations to the block inputs and dynamics along with nonlinearizations of the measured body angular rates, use the Saturation block.

Anisoelastic bias and anisoinertial bias effects are not accounted for in this block.

This block is not intended to model the internal dynamics of different forms of the instrument.

The measured body angular rates $$({\overline{\omega}}_{meas})$$ include the body angular rates $$({\overline{\omega}}_{b})$$, errors, and, optionally, the discretizations and nonlinearizations of the signals:

$${\overline{\omega}}_{meas}={\overline{\omega}}_{b}\times {\overline{\omega}}_{SFCC}+{\overline{\omega}}_{bias}+Gs\times {\overline{\omega}}_{gsens}+noise$$

where $${\overline{\omega}}_{SFCC}$$ is a 3-by-3 matrix of scaling factors on the diagonal and misalignment
terms in the nondiagonal, $${\overline{\omega}}_{bias}$$ are the biases, (*Gs*) are the Gs on the gyroscope,
and $${\overline{\omega}}_{gsens}$$ are the G-sensitive biases.

[1] Rogers, R. M.,
*Applied Mathematics in Integrated Navigation Systems*, AIAA
Education Series, 2000.