Sensor Models

Calibration and simulation for IMU, GPS, and range sensors

Perform sensor modeling and simulation for accelerometers, magnetometers, gyroscopes, altimeters, GPS, IMU, and range sensors. Analyze sensor readings, sensor noise, environmental conditions and other configuration parameters. Generate trajectories to emulate these sensors traveling through a world and calibrate the performance of your sensors.

Functions

allanvarAllan variance
magcalMagnetometer calibration coefficients
accelparamsAccelerometer sensor parameters
gyroparamsGyroscope sensor parameters
magparamsMagnetometer sensor parameters

Objects

altimeterSensorAltimeter simulation model
gpsSensorGPS receiver simulation model
imuSensorIMU simulation model
rangeSensorSimulate range-bearing sensor readings
kinematicTrajectoryRate-driven trajectory generator
timescopeDisplay time-domain signals
waypointTrajectoryWaypoint trajectory generator

Blocks

AHRSOrientation from accelerometer, gyroscope, and magnetometer readings
IMUIMU simulation model

Topics

Model IMU, GPS, and INS/GPS

Model combinations of inertial sensors and GPS

Remove Bias from Angular Velocity Measurement

This example shows how to remove gyroscope bias from an IMU using imufilter.

Configure Time Scope MATLAB Object

Customize timescope properties and use measurement tools.

Featured Examples

Introduction to Simulating IMU Measurements

Introduction to Simulating IMU Measurements

Simulate inertial measurement unit (IMU) measurements using the imuSensor System object. An IMU can include a combination of individual sensors, including a gyroscope, an accelerometer, and a magnetometer. You can specify properties of the individual sensors using gyroparams, accelparams, and magparams, respectively.

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Inertial Sensor Noise Analysis Using Allan Variance

Inertial Sensor Noise Analysis Using Allan Variance

Use the Allan variance to determine noise parameters of a MEMS gyroscope. These parameters can be used to model the gyroscope in simulation. The gyroscope measurement is modeled as:

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Magnetometer Calibration

Magnetometer Calibration

Magnetometers detect magnetic field strength along a sensor's X,Y and Z axes. Accurate magnetic field measurements are essential for sensor fusion and the determination of heading and orientation.

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Generate Off-centered IMU Readings

Generate Off-centered IMU Readings

Generate inertial measurement unit (IMU) readings from a sensor that is mounted on a ground vehicle. Depending on the location of the sensor, the IMU accelerations are different.

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Detect Noise in Sensor Readings with Residual Filtering

Detect Noise in Sensor Readings with Residual Filtering

Use the residualgps object function and residual filtering to detect when new sensor measurements may not be consistent with the current filter state.

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IMU Sensor Fusion with Simulink

IMU Sensor Fusion with Simulink

Generate and fuse IMU sensor data using Simulink®. You can accurately model the behavior of an accelerometer, a gyroscope, and a magnetometer and fuse their outputs to compute orientation.

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