Documentation

gyroparams

Gyroscope sensor parameters

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Description

The gyroparams class creates a gyroscope sensor parameters object. You can use this object to model a gyroscope when simulating an IMU with imuSensor (Sensor Fusion and Tracking Toolbox).

Creation

Syntax

params = gyroparams

params = gyroparams(Name,Value)

Description

params = gyroparams returns an ideal gyroscope sensor parameters object with default values.

params = gyroparams(Name,Value) configures gyroparams 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

`MeasurementRange` — Maximum sensor reading (rad/s)
`Inf` (default) | real positive scalar

Maximum sensor reading in rad/s, specified as a real positive scalar.

Data Types: single | double

`Resolution` — Resolution of sensor measurements ((rad/s)/LSB)
`0` (default) | real nonnegative scalar

Resolution of sensor measurements in (rad/s)/LSB, specified as a real nonnegative scalar

Data Types: single | double

`ConstantBias` — Constant sensor offset bias (rad/s)
`[0 0 0]` (default) | real scalar | real 3-element row vector

Constant sensor offset bias in rad/s, 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

`AxesMisalignment` — Sensor axes skew (%)
`[0 0 0]` (default) | real scalar in the range [0,100] | real 3-element row vector in the range [0,100]

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

`NoiseDensity` — Power spectral density of sensor noise ((rad/s)/√Hz)
`[0 0 0]` (default) | real scalar | real 3-element row vector

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

Data Types: single | double

`BiasInstability` — Instability of the bias offset (rad/s)
`[0 0 0]` (default) | real scalar | real 3-element row vector

Instability of the bias offset in rad/s, 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

`RandomWalk` — Integrated white noise of sensor ((rad/s)(√Hz))
`[0 0 0]` (default) | real scalar | real 3-element row vector

Integrated white noise of sensor in (rad/s)(√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

`TemperatureBias` — Sensor bias from temperature ((rad/s)/℃)
`[0 0 0]` (default) | real scalar | real 3-element row vector

Sensor bias from temperature in ((rad/s)/℃), 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

`TemperatureScaleFactor` — Scale factor error from temperature (%/℃)
`[0 0 0]` (default) | real scalar in the range [0,100] | real 3-element row vector in the range [0,100]

Scale factor error from temperature 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

`AccelerationBias` — Sensor bias from linear acceleration (rad/s)/(m/s²)
`[0 0 0]` (default) | real scalar | real 3-element row vector

Sensor bias from linear acceleration in (rad/s)/(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

Examples

Generate Gyroscope Data from Stationary Inputs

Open Live Script

Generate gyroscope data for an imuSensor object from stationary inputs.

Generate a gyroscope parameter object with a maximum sensor reading of 4.363 $rad / s$ and a resolution of 1.332e-4 $(rad / s) / LSB$ . The constant offset bias is 0.349 $rad / s$ . The sensor has a power spectral density of 8.727e-4 $\begin{array}{l} r a d / s / \sqrt{H z} \\ . The bias from temperature is 0.349 r a d / s /^{0} C \end{array}$ . The bias from temperature is 0.349 $(rad / s^{2})$ $/^{0} C$ . The scale factor error from temperature is 0.2% $/^{0} C$ . The sensor axes are skewed by 2%. The sensor bias from linear acceleration is 0.178e-3 $(r a d / s) / (m / s^{2})$

params = gyroparams('MeasurementRange',4.363,'Resolution',1.332e-04,'ConstantBias',0.349,'NoiseDensity',8.727e-4,'TemperatureBias',0.349,'TemperatureScaleFactor',0.02,'AxesMisalignment',2,'AccelerationBias',0.178e-3);

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

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

imu = imuSensor('accel-gyro','SampleRate', Fs, 'Gyroscope', params);

Generate gyroscope data from the imuSensor object.

orient = quaternion.ones(numSamples, 1);
acc = zeros(numSamples, 3);
angvel = zeros(numSamples, 3);
 
[~, gyroData] = imu(acc, angvel, orient);

Plot the resultant gyroscope data.

plot(t, gyroData)
title('Gyroscope')
xlabel('s')
ylabel('rad/s')

Extended Capabilities

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

See Also

accelparams | imuSensor | magparams

Introduced in R2018b

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