IMU simulation model
The imuSensor
System object™ models receiving data from an inertial measurement unit (IMU).
To model an IMU:
Create the imuSensor
object and set its properties.
Call the object with arguments, as if it were a function.
To learn more about how System objects work, see What Are System Objects?.
returns a System object, IMU
= imuSensorIMU
, that computes an inertial measurement unit reading
based on an inertial input signal. IMU
has an ideal accelerometer and
gyroscope.
IMU = imuSensor(
returns an
'accel-gyro'
)imuSensor
System object with an ideal accelerometer and gyroscope. imuSensor
and
imuSensor('accel-gyro')
are equivalent creation syntaxes.
IMU = imuSensor(
returns an
'accel-mag'
)imuSensor
System object with an ideal accelerometer and magnetometer.
IMU = imuSensor(
returns an
'accel-gyro-mag'
)imuSensor
System object with an ideal accelerometer, gyroscope, and magnetometer.
IMU = imuSensor(___,
returns an 'ReferenceFrame'
,RF
)imuSensor
System object that computes an inertial measurement unit reading relative to the reference
frame RF
. Specify RF
as 'NED'
(North-East-Down) or 'ENU'
(East-North-Up). The default value is
'NED'
.
IMU = imuSensor(___,
sets each property Name,Value
)Name
to the specified Value
.
Unspecified properties have default values. This syntax can be used in combination with
any of the previous input arguments.
[
generates accelerometer and gyroscope readings from the acceleration and angular
velocity inputs.accelReadings
,gyroReadings
] = IMU(acc
,angVel
)
This syntax is only valid if IMUType
is set to
'accel-gyro'
or 'accel-gyro-mag'
.
[
generates accelerometer and gyroscope readings from the acceleration, angular velocity,
and orientation inputs.accelReadings
,gyroReadings
] = IMU(acc
,angVel
,orientation
)
This syntax is only valid if IMUType
is set to
'accel-gyro'
or 'accel-gyro-mag'
.
[
generates accelerometer and magnetometer readings from the acceleration and angular
velocity inputs.accelReadings
,magReadings
] = IMU(acc
,angVel
)
This syntax is only valid if IMUType
is set to
'accel-mag'
.
[
generates accelerometer and magnetometer readings from the acceleration, angular
velocity, and orientation inputs.accelReadings
,magReadings
] = IMU(acc
,angVel
,orientation
)
This syntax is only valid if IMUType
is set to
'accel-mag'
.
[
generates accelerometer, gyroscope, and magnetometer readings from the acceleration and
angular velocity inputs.accelReadings
,gyroReadings
,magReadings
] = IMU(acc
,angVel
)
This syntax is only valid if IMUType
is set to
'accel-gyro-mag'
.
[
generates accelerometer, gyroscope, and magnetometer readings from the acceleration,
angular velocity, and orientation inputs.accelReadings
,gyroReadings
,magReadings
] = IMU(acc
,angVel
,orientation
)
This syntax is only valid if IMUType
is set to
'accel-gyro-mag'
.
To use an object function, specify the
System object as the first input argument. For
example, to release system resources of a System object named obj
, use
this syntax:
release(obj)