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Complementary Filter

Estimate orientation using complementary filter

Since R2023a

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  • Complementary Filter block

Libraries:
Sensor Fusion and Tracking Toolbox / Multisensor Positioning / Navigation Filters
Navigation Toolbox / Multisensor Positioning / Navigation Filters

Description

The Complementary Filter Simulink® block fuses accelerometer, magnetometer, and gyroscope sensor data to estimate device orientation.

Ports

Input

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Accelerometer readings in the sensor body coordinate system in m/s2, specified as an N-by-3 matrix of real numbers. N is the number of samples, and the each row is of the form [x y z].

Data Types: single | double

Gyroscope readings in the sensor body coordinate system in rad/s, specified as an N-by-3 matrix of real numbers. N is the number of samples, and the each row is of the form [x y z].

Data Types: single | double

Magnetometer readings in the sensor body coordinate system in µT, specified as an N-by-3 matrix of real numbers. N is the number of samples, and the each row is of the form [x y z].

Dependencies

To enable this input port, select the Enable Magnetometer input parameter.

Data Types: single | double

Output

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Orientation of the sensor body frame relative to the navigation frame, returned as an M-by-4 matrix of real numbers or a 3-by-3-by-M array. Each row of the M-by-4 matrix represents the four components of a quaternion. Each page of the 3-by-3-by-M array represents a 3-by-3 rotation matrix.

The number of input samples, N, determines the output size, M.

The output format depends on the value of the Orientation format parameter.

Data Types: single | double

Angular velocity, with gyroscope bias removed, in the sensor body coordinate system in rad/s, returned as an M-by-3 matrix of real numbers.

The number of input samples, N, determines the output size, M.

Data Types: single | double

Parameters

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Specify the navigation reference frame as NED (North-East-Down) or ENU (East-North-Up).

Specify the format in which to output Orientation as quaternion or Rotation matrix:

  • quaternion — Orientation outputs an M-by-4 matrix of real numbers. Each row of the matrix represents the four components of a quaternion.

  • Rotation matrix — Orientation outputs a 3-by-3-by-M array, in which each page of the array is a 3-by-3 rotation matrix.

The number of input samples, N, determines the output size, M.

Specify the accelerometer gain as a real scalar in the range [0, 1]. The gain determines how much the block trust the accelerometer measurement over the gyroscope measurement for orientation estimation.

Example: 0.02

Data Types: single | double

Select this parameter to enable input of magnetometer readings at the Mag port.

Specify the magnetometer gain as a real scalar in the range [0, 1]. The gain determines how much the block trust the magnetometer measurement over the gyroscope measurement for orientation estimation.

Example: 0.02

Data Types: single | double

Select the type of simulation to run from these options:

  • Interpreted execution — Simulate the model using the MATLAB® interpreter. This option shortens startup time, but has a slower simulation speed than Code generation. In this mode, you can debug the source code of the block.

  • Code generation — Simulate the model using generated C code. The first time you run a simulation in this mode, Simulink generates C code for the block. Simulink reuses the C code for subsequent simulations, as long as the model does not change. This option requires additional startup time, but the speed of subsequent simulations is comparable to Interpreted execution.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2023a

See Also

Objects

Blocks