惯性测量单元

IMU的是安装在平台上的电子装置。该IMU由单个的传感器，报告有关该平台的运动各种信息。的IMU结合多个传感器，其可包括加速计，陀螺仪，和磁力。

With this toolbox, measurements returned from an IMU model use the following unit and coordinate conventions.

Usually, the data returned by IMUs is fused together and interpreted as roll, pitch, and yaw of the platform. Real-world IMU sensors can have different axes for each of the individual sensors. The models provided by Sensor Fusion and Tracking Toolbox assume that the individual sensor axes are aligned.

要创建一个IMU传感器型号，使用imuSensor系统对象™。

IMU = imuSensor

IMU = imuSensor与属性：IMUType：“加速 - 陀螺SAMPLERATE：100温度：25加速度计：[1×1 accelparams]陀螺仪：[1×1 gyroparams] RandomStream： '全局流'

The default IMU model contains an ideal accelerometer and an ideal gyroscope. Theaccelparams和gyroparamsobjects define the accelerometer and gyroscope configuration. You can set the properties of these objects to mimic specific hardware and environments. For more information on IMU parameter objects, seeaccelparams,gyroparams和magparams.

To model receiving IMU sensor data, call the IMU model with the ground-truth acceleration and angular velocity of the platform:

trueAcceleration = [1 0 0];trueAngularVelocity = [1 0 0];[accelerometerReadings，gyroscopeReadings] = IMU（trueAcceleration，trueAngularVelocity）

accelerometerReadings = -1.0000 0 9.8100 gyroscopeReadings = 1 0 0

You can generate the ground-truth trajectories that you input to the IMU model usingkinematicTrajectory和waypointTrajectory.

Global Positioning System

A global positioning system (GPS) provides 3-D position information for platforms (receivers) on the surface of the Earth.

GPS consists of a constellation of satellites that continuously orbit the earth. The satellites maintain a configuration such that a platform is always within view of at least four satellites. By measuring the flight time of signals from the satellites to the platform, the position of the platform can be trilaterated. Satellites timestamp a broadcast signal, which is compared to the platform's clock upon receipt. Three satellites are required to trilaterate a position in three dimensions. The fourth satellite is required to correct for clock synchronization errors between the platform and satellites.

The GPS simulation provided by Sensor Fusion and Tracking Toolbox models the platform (receiver) data that has already been processed and interpreted as altitude, latitude, longitude, velocity, groundspeed, and course.

从GPS模式返回测量使用下面的单位和协调约定。

The GPS model enables you to set high-level accuracy and noise parameters, as well as the receiver update rate and a reference location.

To create a GPS model, use thegpsSensor系统对象。

GPS = gpsSensor

GPS = gpsSensor与属性：UpdateRate：1赫兹ReferenceLocation：[0 0 0] [度度米] Horizo​​ntalPositionAccuracy：2.6米VerticalPositionAccuracy：3米VelocityAccuracy：0.1米/秒RandomStream： '全局流' DecayFactor：0.999

为了模拟接收GPS传感器数据，调用与平台的地面实况的位置和速度的GPS模型：

TruePosition公司= [1 0 0];trueVelocity = [1 0 0];[LLA，速度，地面速度，当然] = GPS（TruePosition公司，trueVelocity）

LLA = 0.0000 0.0000 0.3031速度= 1.0919 -0.0008 -0.1308地面速度= 1.0919当然= 359.9566

您可以在您输入到GPS模型中使用产生的地面实况轨迹kinematicTrajectory和waypointTrajectory.

惯性导航系统和全球定位系统

An inertial navigation system (INS) uses inertial sensors like those found on an IMU: accelerometers, gyroscopes, and magnetometers. An INS fuses the inertial sensor data to calculate position, orientation, and velocity of a platform. An INS/GPS uses GPS data to correct the INS. Typically, the INS and GPS readings are fused with an extended Kalman filter, where the INS readings are used in the prediction step, and the GPS readings are used in the update step. A common use for INS/GPS is dead-reckoning when the GPS signal is unreliable.

"INS/GPS" refers to the entire system, including the filtering. The INS/GPS simulation provided by Sensor Fusion and Tracking Toolbox models an INS/GPS and returns the position, velocity, and orientation reported by the inertial sensors and GPS receiver based on a ground-truth motion.

Measurements returned from the INS/GPS use the following unit and coordinate conventions.

To create a INS/GPS model, use theinsSensor系统对象。侧倾，俯仰，横摆，位置和速度：您可以通过调整你的融合数据的准确性模拟真实世界的INS / GPS系统。

INS = insSensor

INS = insSensor与属性：RollAccuracy：0.2度PitchAccuracy：0.2度YawAccuracy：1度PositionAccuracy：1米VelocityAccuracy：0.05米/秒RandomStream： '全局流'

To model receiving INS/GPS sensor data, call the INS/GPS model with the ground-truth position and velocity and orientation of the platform:

trueMotion = struct(...'位置',[0 0 0],...'Velocity',[0 0 0],...'取向',quaternion(1,0,0,0)); measurement = INS(trueMotion)

测量=结构与字段：定位：[1×1的四元数的位置：[0.2939 -0.7873 0.8884]速度：[-0.0574 -0.0534 -0.0405]