factorIMUParameters
Description
Use a factorIMUParameters
object to specify factor IMU parameters
to a factorIMU
object.
Creation
Description
returns a
default factor IMU parameters object, params
= factorIMUParametersparams
.
specifies properties using one or more name-value arguments.params
= factorIMUParameters(Name=Value
)
Properties
SampleRate
— IMU sampling rate
100
(default) | numeric scalar greater than or equal to 100
IMU sampling rate, in Hz, specified as a numeric scalar greater than or equal to
100
.
Example:
SampleRate=400
Data Types: single
| double
GyroscopeBiasNoise
— Gyroscope bias process noise covariance
eye(3)
(default) | 3-by-3 matrix | three-element row vector | numeric scalar
Gyroscope bias process noise covariance, specified as a 3-by-3 matrix, three-element row vector, or numeric scalar in (rad/s)2.
Example: GyroscopeBiasNoise=1.5e-9*eye(3)
Data Types: single
| double
AccelerometerBiasNoise
— Accelerometer bias process noise covariance
eye(3)
(default) | 3-by-3 matrix | three-element row vector | numeric scalar
Accelerometer bias process noise covariance, specified as a 3-by-3 matrix, three-element row vector, or numeric scalar in (m/s2)2.
Example: AccelerometerBiasNoise=diag([9.62e-9,9.62e-9,2.17e-8])
Data Types: single
| double
GyroscopeNoise
— Gyroscope measurement noise covariance
eye(3)
(default) | 3-by-3 matrix | three-element row vector | numeric scalar
Gyroscope measurement noise covariance, specified as a 3-by-3 matrix, three-element row vector, or numeric scalar in (rad/s)2.
Example: GyroscopeNoise=6.93e-5*eye(3)
Data Types: single
| double
AccelerometerNoise
— Accelerometer measurement noise covariance
eye(3)
(default) | 3-by-3 matrix | three-element row vector | numeric scalar
Accelerometer measurement noise covariance, specified as a 3-by-3 matrix, three-element row vector, or numeric scalar in (m/s2)2.
Example: AccelerometerNoise=2.9e-6*eye(3)
Data Types: single
| double
ReferenceFrame
— Reference frame for local coordinate system
"ENU"
(default) | "NED"
Reference frame for the local coordinate system, specified as "ENU"
(east-north-up) or "NED"
(north-east-down).
Data Types: string
| char
Examples
Specify IMU Parameters of factorIMU
Object Using factorIMUParameters
Object
Specify IMU parameters for sample rate and the gyroscope and accelerometer measurement bias and noises.
sampleRate = 400; % Hz
gyroBiasNoise = 1.5e-9*eye(3);
accelBiasNoise = diag([9.62e-9 9.62e-9 2.17e-8]);
gyroNoise = 6.93e-5*eye(3);
accelNoise = 2.9e-6*eye(3);
Create a factorIMUParameters
object using the specified IMU parameters.
imuparams = factorIMUParameters(SampleRate=sampleRate, ... GyroscopeBiasNoise=gyroBiasNoise, ... AccelerometerBiasNoise=accelBiasNoise, ... GyroscopeNoise=gyroNoise, ... AccelerometerNoise=accelNoise, ... ReferenceFrame="NED");
Specify the gyroscope and accelerometer readings.
gyroReadings = [-0.0151 0.0299 0.0027 -0.0079 0.0370 -0.0014 -0.0320 0.0306 0.0035 -0.0043 0.0340 -0.0066 -0.0033 0.0331 -0.0011]; accelReadings = [1.0666 0.0802 9.9586 1.1002 0.0199 9.6650 1.0287 0.3071 10.1864 0.9077 -0.2239 10.2989 1.2322 0.0174 9.8411];
Create a factorIMU
object using the factorIMUParameters
object and the readings.
nodeID = 1:6; f = factorIMU(nodeID,gyroReadings,accelReadings,imuparams);
Create a default factor graph and add the factor to the graph using the addFactor
function.
g = factorGraph; addFactor(g,f);
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Version History
Introduced in R2023a
See Also
Objects
Functions
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