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Brian Fanous

Last seen: 17 days ago |  Active since 2018

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Answered
R2024b cannot reproduce documented example result
A bug in the imufilter and ahrsfilter that had a minor affect on the output was fixed in R2021b. For the setup in the code above...

2 months ago | 0

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Answered
No usable results when using insEKF() instead of imufilter()
Christian, do you have a ground truth recorded? Meaning, do you have logged data of what you want the filter output to look like...

5 months ago | 0

Answered
How to correctly obtain the signs of the measurement function h(x) from the kinematics of non holonomic filter?
The quaternion to rotation matrix conversion equation you've posted is for an active rotation (what the quatenrion class calls a...

11 months ago | 0

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Answered
HelperOrientationViewer error even with correct syntax
You should use the poseplot function instead of HelperOrientationViewer.

1 year ago | 0

Answered
Is there any option to account for lever arm between sensors using insEKF
First, I'd suggest trying the insEKF without handling the lever arm and see if the performance is adequate. If that doesn't wor...

1 year ago | 0

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Answered
Finding turning angle from real IMU data
Can you clarify a bit more about what you mean by the "magnitude of the turn?" What are you expecting to see in the plot? Shoul...

1 year ago | 0

Answered
Simulink IMU's accelerometer is different with MPU6050 acclerometer
I'm not sure which IMU block you mean, but the ones in the Navigation Toolbox and Sensor Fusion and Tracking Toolbox, when in th...

1 year ago | 0

Answered
Why do matlab and python convert Euler angles to quaternions with different results?
@cui I believe you saw my post on other thread already. But in case someone else comes along this question, the way the MATLAB q...

1 year ago | 0

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Answered
How to input my own IMU data into insfilterErrorState
This example may help in understanding how to do this: https://www.mathworks.com/help/nav/ug/logged-sensor-data-alignment-for-o...

2 years ago | 0

Answered
How should I modify my real-time IMU data for usage in insfilterAsync/insfilterMARG object(s)?
This example may help in understanding how to do this: https://www.mathworks.com/help/nav/ug/logged-sensor-data-alignment-for-o...

2 years ago | 0

Answered
i am using insfilterNonholonomic filter and i wanted to ask how to conver my gps speed to velocity in local NED coordinates
Assuming your device is traveling on the ground (no Z direction velocity, Z position == 0) and we are working in NED.... Your s...

2 years ago | 0

Answered
How to use MATLAB's inertial navigation extended Kalman filter (insEKF) for pose estimation with accel and gyro data as inputs?
Generally speaking, if you have only typical MEMs gyroscope and accelerometer you will not be able to get a high quality positio...

2 years ago | 0

Answered
wheel encoders + mpu605 differential drive mobile robot Odometry
You can read data from an mpu650 using an Arduino as described here: https://www.mathworks.com/help/supportpkg/arduinoio/ref/mp...

2 years ago | 1

Answered
Creation of Imu geometric model in Matlab In order to generate Synthetic data(Accelerometer and Gyroscope) 6DOF
You can use waypointTrajectory and imuSensor to accomplish this in MATLAB. There is an equivalent Simulink block for imuSensor b...

2 years ago | 0

Answered
Generation of artificial IMU data from simple waypoint trajectory
The last line of your code: [accelReadings, gyroReadings] = imu(acceleration, angularVelocity, orientation'); has a sublte but...

2 years ago | 0

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Answered
Definition of orientation of insfilterErrorState function with ENU reference frame?
The filter estimates orientation as a quaternion. The orientation is the identity quaternion (i.e. quaternion(1,0,0,0) ) when th...

2 years ago | 0

Answered
Generation of artificial IMU data from simple waypoint trajectory
Can you explain your setup a bit more? Are the plots shown in your post the outputs of the imuSensor or the outputs of the waypo...

2 years ago | 0

Answered
Slerp gives wrong values when fed an euler matrix [0,90,0]
What you are seeing is known as gimbal lock. You have set your a variable to a Euler angle singularity. Specifically in this cas...

2 years ago | 1

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Answered
Why do the eul2quat and quaternion functions differ on the calculated results?
Quick takeaways : Both eul2quat and the quaternion class use intrinsic rotations. eul2quat([a b c], 'XYZ') is equivalent to qu...

2 years ago | 3

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Answered
insfilterMARG parameter tuning - Kalman filter
It's hard to tell what's going on with only these code snippets. Can you post more? Note that the tune() function will not fin...

3 years ago | 0

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Answered
insfilterasync for smartphone pose estimation without GPS
I'd like to be sure I understand what you are trying to do. Do you want to estimate pose (orientation and position) based only o...

3 years ago | 0

Answered
State prediction for insfilterMARG
The documentation is a bit incorrect or not detailed enough. Here’s what is going on: The gyroscope signal is integrated to cre...

3 years ago | 0

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Answered
Question regarding quaternion conventions; particularly with respect to point vs frame rotations
The quaternion class does follow the Hamilton convention – the scalar part is first. Point rotations are active rotations and c...

3 years ago | 0

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Is there a mistake on The Help document?
See the diagram above the equations you’ve cited. The linear acceleration is decayed from one iteration to the next by the dec...

3 years ago | 0

Answered
Which are the state and measurement functions employed in insfilterAsync?
The documentation describes the state vector and the state transition function. The insfilterAsync uses a continuous time motion...

3 years ago | 0

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Answered
How to simulate IMU data and obtain variation of drift errors in the path?
For imuSensor, the input acceleration is the linear or translational acceleration in the global frame. The output acceleration i...

3 years ago | 0

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Answered
ahrsfilter tune sensor fusion
The ahrsfilter should give relatively good results without much tuning, but adjusting the parameters always helps. If you are st...

4 years ago | 0

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Answered
Problem with calculating relative orientation using quaternions
As I understand it you have two quaternions and and a third rotation that you are looking for which denotes the difference in ...

4 years ago | 0

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Answered
Problem with calculating relative orientation using quaternions
AM, Can you explain your setup a little more? What are you trying to achieve and why are you multiplying the two quaternions? ...

4 years ago | 0

Answered
Why don't the Sensor Fusion Toolbox IMU filters consistently provide the same results?
Hi Jaime The fusion filters are generally objects which retain state from one call to the next. In your example code, the first...

4 years ago | 0

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