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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.

To fuse multiple sensors or use other localization algorithms, see Localization and Pose Estimation.

For more information about GNSS localization and positioning, see GNSS Positioning.


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altimeterSensorAltimeter simulation model
gpsSensorGPS receiver simulation model (Since R2019b)
nmeaParserParse data from standard and manufacturer-specific NMEA sentences sent from marine electronic devices (Since R2020b)
gpsdevConnect to a GPS receiver connected to host computer (Since R2020b)
imuSensorIMU simulation model (Since R2019b)
accelparamsAccelerometer sensor parameters
accelcalCalibration parameters for accelerometer (Since R2023b)
linaccelLinear acceleration from accelerometer reading (Since R2023b)
magparamsMagnetometer sensor parameters
magcalMagnetometer calibration coefficients
gyroparamsGyroscope sensor parameters
allanvarAllan variance
fractalcoefFilter coefficients for fractal noise generation (Since R2023b)
gravitydirGravity direction vector for given orientation (Since R2023b)
tiltTilt angle (Since R2023b)
compassAngleNavigational heading relative to north (Since R2023b)
insSensorInertial navigation system and GNSS/GPS simulation model (Since R2020b)
rangeSensorSimulate range-bearing sensor readings (Since R2019b)
gnssSensorSimulate GNSS to generate position and velocity readings (Since R2020b)
gnssMeasurementGeneratorSimulate GNSS measurements for scenarios (Since R2023a)
wheelEncoderUnicycleSimulate wheel encoder sensor readings for unicycle vehicle (Since R2020b)
wheelEncoderBicycleSimulate wheel encoder sensor readings for bicycle vehicle (Since R2020b)
wheelEncoderDifferentialDriveSimulate wheel encoder sensor readings for differential drive vehicle (Since R2020b)
wheelEncoderAckermannSimulate wheel encoder sensor readings for Ackermann vehicle (Since R2020b)
kinematicTrajectoryRate-driven trajectory generator (Since R2019b)
waypointTrajectoryWaypoint trajectory generator (Since R2019b)
timescopeDisplay time-domain signals (Since R2020a)


IMUIMU simulation model (Since R2020a)
INSSimulate INS sensor (Since R2020b)
GPSSimulate GPS sensor readings with noise (Since R2021b)