Horis User Manual
2.5
Levelling AHRS
Such misalignment can be perfectly adjusted without loss of precision
using the procedure described in this section.
2.5.1
Yaw Misalignment
Roll and pitch angle can be adjusted automatically, but yaw angle
must be set explicitely, before the procedure starts.
When the instrument panel is perfectly flat and perpendicular to the
airplane x-axis (longitudinal axis) than there is no yaw misalignment
and the correction angle is zero. This perfect situation is illustrated
on figure 13 left.
Some instrument panels are rotated regarding the airplane x-axis
(longitudinal axis). In this case the misalignment angle Ψ must be
measured and its value entered. Figure 13 defines positive and neg-
ative Ψ angle.
When Ψ is known, enter its value into
Yaw misalign.
item as shown
on Figure 14.
x
-a
x
is
x
-a
x
is
x
-a
x
is
+Ψ
-Ψ
Figure 13:
Top-down view illustration of possible yaw misalignment:
perfect position (left), positive yaw misalignment angle
(middle), negative yaw misalignment angle (right).
26
©
Kanardia
2021
Summary of Contents for Horis
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