factorIMUParameters

Factor IMU parameters

Since R2023a

Description

Use a factorIMUParameters object to specify factor IMU parameters to a factorIMU object.

Creation

Syntax

params = factorIMUParameters

params = factorIMUParameters(Name=Value)

Description

params = factorIMUParameters returns a default factor IMU parameters object, params.

params = factorIMUParameters(Name=Value) specifies properties using one or more name-value arguments.

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