accelparams class

Accelerometer sensor parameters

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Description

The accelparams class creates an accelerometer sensor parameters object. You can use this object to model an accelerometer when simulating an IMU with imuSensor.

Construction

params = accelparams returns an ideal accelerometer sensor parameters object with default values.

params = accelparams(Name,Value) configures an accelerometer sensor parameters object properties using one or more Name-Value pair arguments. Name is a property name and Value is the corresponding value. Name must appear inside single quotes (''). You can specify several name-value pair arguments in any order as (Name1,Value1,...,NameN,ValueN). Any unspecified properties take default values.

Properties

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Maximum sensor reading in m/s2, specified as a real positive scalar.

Data Types: single | double

Resolution of sensor measurements in (m/s2)/LSB, specified as a real nonnegative scalar.

Data Types: single | double

Constant sensor offset bias in m/s2, specified as a real scalar or 3-element row vector. Any scalar input is converted into a real 3-element row vector where each element has the input scalar value.

Data Types: single | double

Sensor axes skew in %, specified as a real scalar or 3-element row vector with values ranging from 0 to 100. Any scalar input is converted into a real 3-element row vector where each element has the input scalar value.

Data Types: single | double

Power spectral density of sensor noise in (m/s2/√Hz), specified as a real scalar or 3-element row vector. This property corresponds to the velocity random walk (VRW). Any scalar input is converted into a real 3-element row vector where each element has the input scalar value.

Data Types: single | double

Instability of the bias offset in m/s2, specified as a real scalar or 3-element row vector. Any scalar input is converted into a real 3-element row vector where each element has the input scalar value.

Data Types: single | double

Integrated white noise of sensor in (m/s2)(√Hz), specified as a real scalar or 3-element row vector. Any scalar input is converted into a real 3-element row vector where each element has the input scalar value.

Data Types: single | double

Sensor bias from temperature in (m/s2)/℃, specified as a real scalar or 3-element row vector. Any scalar input is converted into a real 3-element row vector where each element has the input scalar value.

Data Types: single | double

Scale factor error from temperature in %/℃, specified as a real scalar or real 3-element row vector with values ranging from 0 to 100. Any scalar input is converted into a real 3-element row vector where each element has the input scalar value.

Data Types: single | double

Examples

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Open Live Script

Generate accelerometer data for an imuSensor object from stationary inputs.

Generate an accelerometer parameter object with a maximum sensor reading of 19.6 m/s2 and a resolution of 0.598 (mm/s2)/LSB. The constant offset bias is 0.49 m/s2. The sensor has a power spectral density of 3920 (μm/s2)/Hz. The bias from temperature is 0.294 (m/s2)/0C. The scale factor error from temperature is 0.02%/0C. The sensor axes are skewed by 2%.

params = accelparams('MeasurementRange',19.6,'Resolution',0.598e-3,'ConstantBias',0.49,'NoiseDensity',3920e-6,'TemperatureBias',0.294,'TemperatureScaleFactor',0.02,'AxesMisalignment',2);

Use a sample rate of 100 Hz spaced out over 1000 samples. Create the imuSensor object using the accelerometer parameter object.

Fs = 100;
numSamples = 1000;
t = 0:1/Fs:(numSamples-1)/Fs;

imu = imuSensor('SampleRate', Fs, 'Accelerometer', params);

Generate accelerometer data from the imuSensor object.

orient = quaternion.ones(numSamples, 1);
acc = zeros(numSamples, 3);
angvel = zeros(numSamples, 3);
 
accelData = imu(acc, angvel, orient);

Plot the resultant accelerometer data.

plot(t, accelData)
title('Accelerometer')
xlabel('s')
ylabel('m/s^2')

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

See Also

System Objects

Classes

Topics

Introduced in R2018b

Sensor Fusion and Tracking Toolbox Documentation
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