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

gnssSensorSimulate GNSS to generate position and velocity readings
altimeterSensorAltimeter simulation model
gpsSensorGPS receiver simulation model
imuSensorIMU simulation model
insSensorInertial navigation and GPS simulation model
rangeSensorSimulate range-bearing sensor readings
wheelEncoderUnicycleSimulate wheel encoder sensor readings for unicycle vehicle
wheelEncoderBicycleSimulate wheel encoder sensor readings for bicycle vehicle
wheelEncoderDifferentialDriveSimulate wheel encoder sensor readings for differential drive vehicle
wheelEncoderAckermannSimulate wheel encoder sensor readings for Ackermann vehicle
kinematicTrajectoryRate-driven trajectory generator
timescopeDisplay time-domain signals
waypointTrajectoryWaypoint trajectory generator
nmeaParserParse data from standard NMEA sentences sent from GNSS receivers
gpsdevConnect to a GPS receiver connected to host computer

Blocks

AHRSOrientation from accelerometer, gyroscope, and magnetometer readings
IMUIMU simulation model
INSSimulate INS sensor

Topics

Model IMU, GPS, and INS/GPS

Model combinations of inertial sensors and GPS

Inertial Sensor Noise Analysis Using Allan Variance

This example shows how to use the Allan variance to determine noise parameters of a MEMS gyroscope.

Wheel Encoder Error Sources

Explore the various error sources of wheel encoders and how they affect the wheel odometry estimate.

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 (Sensor Fusion and Tracking Toolbox) 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 (Sensor Fusion and Tracking Toolbox), accelparams (Sensor Fusion and Tracking Toolbox), and magparams (Sensor Fusion and Tracking Toolbox), respectively.

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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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GNSS Simulation Overview

GNSS Simulation Overview

Global Navigation Satellite System (GNSS) simulation generates receiver position estimates. Generate GNSS receiver position estimates using GPS and GNSS sensor models as gpsSensor and gnssSensor objects. Monitor the status of the position estimate in the gnssSensor using the dilution of precision outputs and compare the number of satellites available.

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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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Navigation Toolbox Documentation

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