# insMotionPose

Model for 3-D motion estimation

Since R2022a

## Description

The `insMotionPose` object models 3-D motion assuming constant angular velocity and constant linear acceleration. Passing an `insMotionPose` object to an `insEKF` object enables the estimation of 3-D motion, including orientation, angular velocity, position, linear velocity, and linear acceleration. For details on the motion model, see Algorithms.

## Creation

### Syntax

``model = insMotionPose``

### Description

example

````model = insMotionPose` creates an `insMotionPose` object. Passing `model` to an `insEKF` object enables the estimation of: The orientation quaternion from the navigation frame to the body frame.The angular velocity of the platform, expressed in the body frame.The position of the platform, expressed in the navigation frame.The velocity of the platform, expressed in the navigation frame.The acceleration of the platform, expressed in the navigation frame. ```

## Examples

collapse all

Create an `insMotionPose` object and pass it to an `insEKF` object.

`motionModel = insMotionPose`
```motionModel = insMotionPose with no properties. ```
`filter = insEKF(motionModel)`
```filter = insEKF with properties: State: [16x1 double] StateCovariance: [16x16 double] AdditiveProcessNoise: [16x16 double] MotionModel: [1x1 insMotionPose] Sensors: {} SensorNames: {1x0 cell} ReferenceFrame: 'NED' ```

Show the state maintained in the filter.

`stateinfo(filter)`
```ans = struct with fields: Orientation: [1 2 3 4] AngularVelocity: [5 6 7] Position: [8 9 10] Velocity: [11 12 13] Acceleration: [14 15 16] ```

## Algorithms

The `insMotionPose` object models the orientation-only motion of platforms. The state equation of the motion model is:

`$\begin{array}{l}\stackrel{˙}{q}=\frac{1}{2}\omega q\\ \stackrel{˙}{\omega }=0\\ \stackrel{˙}{p}=v\\ \stackrel{˙}{v}=a\\ \stackrel{˙}{a}=0\end{array}$`

where:

• q = (q0, q1, q2, q3) is the quaternion from the navigation frame to the body frame.

• ω is the angular velocity of the platform, expressed in the body frame.

• p is the position of the platform, expressed in the navigation frame.

• v is the linear velocity of the platform, expressed in the navigation frame.

• a is the linear acceleration of the platform, expressed in the navigation frame.

## Version History

Introduced in R2022a