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insGyroscope

Model gyroscope readings for sensor fusion

Description

The insGyroscope object models gyroscope readings for sensor fusion. Passing an insGyroscope object to an insEKF object enables the insEKF object to fuse gyroscope data. For details on the gyroscope model, see Algorithms.

Creation

Description

example

sensor = insGyroscope creates an insGyroscope object. Passing the created sensor to an insEKF object enables the insEKF object to fuse gyroscope data. When fusing data with the fuse object function of insEKF, pass sensor as the second argument to identify the data as obtained from a gyroscope.

Examples

collapse all

Create an insGyroscope object and pass it to an insEKF object.

sensor = insGyroscope;
filterOrientation = insEKF(sensor)
filterOrientation = 
  insEKF with properties:

                   State: [10x1 double]
         StateCovariance: [10x10 double]
    AdditiveProcessNoise: [10x10 double]
             MotionModel: [1x1 insMotionOrientation]
                 Sensors: {[1x1 insGyroscope]}
             SensorNames: {'Gyroscope'}
          ReferenceFrame: 'NED'

Show the state information of the filter. Notice that the state contains the gyroscope bias component.

stateinfo(filterOrientation)
ans = struct with fields:
        Orientation: [1 2 3 4]
    AngularVelocity: [5 6 7]
     Gyroscope_Bias: [8 9 10]

Fuse a gyroscope measurement of [0.1 0.1 0.1] rad/s with measurement noise of diag([0.01 0.01 0.01]).

measure = [0.1 0.1 0.1];
measureNoise = diag([0.01 0.01 0.01]);

state = fuse(filterOrientation,sensor,measure,measureNoise)
state = 10×1

    1.0000
         0
         0
         0
    0.0498
    0.0498
    0.0498
    0.0498
    0.0498
    0.0498

Algorithms

The insGyroscope object models the angular velocity vector expressed in the sensor frame. The measurement equation is:

h(x)=ωgyro+Δ

where h(x) is the three-dimensional measurement output, ωgyro is the angular velocity of the platform expressed in the sensor frame, and Δ is the three-dimensional bias of the sensor, modeled as a constant vector in the sensor frame.

Passing an insGyroscope object to an insEKF filter object enables the filter object to additionally track the bias of the gyroscope.

Version History

Introduced in R2022a

See Also

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