Adjust gravity, g, in imuSensor object accelerometer
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Gregory Harrison on 8 Apr 2021
The imuSensor accelerometer uses a gravity acceleration of 9.81 [m/s^2], but the local gravity in my area is 9.7922 [m/s^2], and I would like to change the value that the imuSensor accelerometer uses for simulation of the accelerometer data to compare with an actual accelerometer. How can this be done?
For background information, the gravity at your location can be calculated using the WGS-84 gravity model:
% from https://en.wikipedia.org/wiki/Theoretical_gravity, based on the
% WGS84 ellipsoid, the WGS (World Geodetic System) 1984 Ellipsoidal
% Gravity formula
theta = your latitude in radians
g_theta = 9.7803253359 * ((1 + 0.00193185265241 * sin(theta)^2)/ ...
(sqrt(1 - 0.00669437999013 * sin(theta)^2 )));
Ryan Salvo on 27 Apr 2021
Unfortunately, it is not currently possible to change the gravity acceleration in imuSensor. I've created an enhancement request for a future release.
Paul on 5 Jun 2022
Edited: Paul on 5 Jun 2022
The better solution, IMO, is to not have imuSensor deal with gravity at all. The input to imuSensor should be specific force, which the user can compute based on whatever gravity model the user is using. Link to further discusson on this issue and others with imuSensor
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