INS
Simulate INS sensor
- Library:
Navigation Toolbox / Multisensor Positioning / Sensor Models
Sensor Fusion and Tracking Toolbox / Multisensor Positioning / Sensor Models
Description
The block simulates an INS sensor, which outputs noise-corrupted position, velocity, and orientation based on the corresponding inputs. To change the level of noise present in the output, you can vary the roll, pitch, yaw, position, and velocity accuracies . The accuracy is defined as the standard deviation of the noise.
Ports
Input
Position — Position of INS sensor
N-by-3 matrix of scalar
Position of the INS sensor relative to the navigation frame, specified as an N-by-3 matrix of scalars. N is the number of samples.
Data Types: single | double
Velocity — Velocity of INS sensor
N-by-3 matrix of scalar
Velocity of the INS sensor relative to the navigation frame, specified as an N-by-3 matrix of scalars. N is the number of samples.
Data Types: single | double
Orientation — Orientation of INS sensor
3-by-3-by-N array of scalar | N-by-4 matrix of scalar
Orientation of the INS sensor relative to the navigation frame, specified as either a 3-by-3-by-N array of scalars, where each page of the array (3-by-3 matrix) is a rotation matrix or as an N-by-4 matrix of scalars, where each row of the matrix is the four elements of a quaternion. N is the number of samples.
Data Types: single | double
Output
Position — Position of INS sensor
N-by-3 matrix of scalar
Position of the INS sensor relative to the navigation frame, returned as an N-by-3 matrix of scalars. N is the number of samples in the input.
Data Types: single | double
Velocity — Velocity of INS sensor
N-by-3 matrix of scalar
Velocity of the INS sensor relative to the navigation frame, returned as an N-by-3 matrix of scalars. N is the number of samples in the inputs.
Data Types: single | double
Orientation — Orientation of INS sensor
3-by-3-by-N array of scalar | N-by-4 matrix of scalar
Orientation of the INS sensor relative to the navigation frame, returned either as a 3-by-3-by-N array of scalars, where each page of the array (3-by-3 matrix) is a rotation matrix, or an N-by-4 matrix of scalars, where each row of the matrix is the four elements of a quaternion. The exact type of orientation output follows the type of orientation input. N is the number of samples in the input.
Data Types: single | double
Parameters
Roll (X-axis) Accuracy (deg) — Accuracy of roll measurement (deg)
0.2 (default) | nonnegative real scalar
Accuracy of the roll measurement of the sensor body in degrees, specified as a nonnegative real scalar.
Roll is defined as rotation around the x-axis of the sensor body. Roll noise is modeled as white process noise with standard deviation equal to the specified Roll accuracy in degrees.
Data Types: single | double
Pitch (Y-axis) Accuracy (deg) — Accuracy of pitch measurement (deg)
0.2 (default) | nonnegative real scalar
Accuracy of the pitch measurement of the sensor body in degrees, specified as a nonnegative real scalar.
Pitch is defined as rotation around the y-axis of the sensor body. Pitch noise is modeled as white process noise with standard deviation equal to the specified Pitch Accuracy in degrees.
Data Types: single | double
Yaw (Z-axis) Accuracy (deg) — Accuracy of yaw measurement (deg)
1 (default) | nonnegative real scalar
Accuracy of the yaw measurement of the sensor body in degrees, specified as a nonnegative real scalar.
Yaw is defined as rotation around the z-axis of the sensor body. Yaw noise is modeled as white process noise with standard deviation equal to the specified Yaw Accuracy in degrees.
Data Types: single | double
Position Accuracy (m) — Accuracy of position measurement (deg)
1 (default) | nonnegative real scalar
Accuracy of the position measurement of the sensor body in meters, specified as a nonnegative real scalar.
Position noise is modeled as white process noise with a standard deviation equal to the specified Position Accuracy in degrees.
Data Types: single | double
Velocity Accuracy (m/s) — Accuracy of velocity measurement (deg)
1 (default) | nonnegative real scalar
Accuracy of the velocity measurement of the sensor body in meters per second, specified as a nonnegative real scalar.
Velocity noise is modeled as white process noise with a standard deviation equal to the specified Velocity Accuracy in degrees.
Data Types: single | double
Intial Seed — Initial seed for randomization
67 (default) | nonnegative integer
Initial seed of a random number generator algorithm, specified as a nonnegative integer.
Data Types: single | double
Simulate using — Type of simulation to run
Interpreted Execution (default) | Code Generation
Interpreted execution— Simulate the model using the MATLAB® interpreter. This option shortens startup time. InInterpreted executionmode, you can debug the source code of the block.Code generation— Simulate the model using generated C code. The first time that you run a simulation, Simulink® generates C code for the block. The C code is reused for subsequent simulations if the model does not change. This option requires additional startup time.