Sensor Models

Calibration and simulation for IMU, GPS, and range sensors

Perform sensor modeling and simulation for accelerometers, magnetometers, gyroscopes, altimeters, GPS, IMU, and range sensors. Analyze sensor readings, sensor noise, environmental conditions and other configuration parameters. Generate trajectories to emulate these sensors traveling through a world and calibrate the performance of your sensors.

To fuse multiple sensors or use other localization algorithms, see Localization and Pose Estimation.

For more information about GNSS localization and positioning, see GNSS Positioning.

Functions

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Altimeter

altimeterSensor Altimeter simulation model

GPS

`gpsSensor`	GPS receiver simulation model
`nmeaParser`	Parse data from standard and manufacturer-specific NMEA sentences sent from marine electronic devices (Since R2020b)
`gpsdev`	Connect to a GPS receiver connected to host computer (Since R2020b)

IMU

`imuSensor`	IMU simulation model
`accelparams`	Accelerometer sensor parameters
`accelcal`	Calibration parameters for accelerometer (Since R2023b)
`linaccel`	Linear acceleration from accelerometer reading (Since R2023b)
`magparams`	Magnetometer sensor parameters
`magcal`	Magnetometer calibration coefficients
`gyroparams`	Gyroscope sensor parameters
`allanvar`	Allan variance
`fractalcoef`	Filter coefficients for fractal noise generation (Since R2023b)
`gravitydir`	Gravity direction vector for given orientation (Since R2023b)
`tilt`	Tilt angle (Since R2023b)
`compassAngle`	Navigational heading relative to north (Since R2023b)

INS

insSensor Inertial navigation system and GNSS/GPS simulation model (Since R2020b)

Range

rangeSensor Simulate range-bearing sensor readings

GNSS

`gnssSensor`	Simulate GNSS to generate position and velocity readings (Since R2020b)
`gnssMeasurementGenerator`	Simulate GNSS measurements for scenarios (Since R2023a)

Wheel Encoders

`wheelEncoderUnicycle`	Simulate wheel encoder sensor readings for unicycle vehicle (Since R2020b)
`wheelEncoderBicycle`	Simulate wheel encoder sensor readings for bicycle vehicle (Since R2020b)
`wheelEncoderDifferentialDrive`	Simulate wheel encoder sensor readings for differential drive vehicle (Since R2020b)
`wheelEncoderAckermann`	Simulate wheel encoder sensor readings for Ackermann vehicle (Since R2020b)

Trajectory Generators

`kinematicTrajectory`	Rate-driven trajectory generator
`waypointTrajectory`	Waypoint trajectory generator

Time Scope

timescope Display time-domain signals (Since R2020a)

Blocks

IMU	IMU simulation model (Since R2020a)
INS	Simulate INS sensor (Since R2020b)
GPS	Simulate GPS sensor readings with noise (Since R2021b)

Topics

Introduction to Simulating IMU Measurements
This example shows how to simulate inertial measurement unit (IMU) measurements using the imuSensor System object.
Generate IMU Readings on a Double Pendulum
This example shows how to generate inertial measurement unit (IMU) readings from two IMU sensors mounted on the links of a double pendulum.
Model IMU, GPS, and INS/GPS
Model combinations of inertial sensors and GPS
Inertial Sensor Noise Analysis Using Allan Variance
This example shows how to use the Allan variance to determine noise parameters of a MEMS gyroscope.
Wheel Encoder Error Sources
Explore the various error sources of wheel encoders and how they affect the wheel odometry estimate.
Remove Bias from Angular Velocity Measurement
This example shows how to remove gyroscope bias from an IMU using imufilter.
Configure Time Scope MATLAB Object
Customize timescope properties and use measurement tools.
Simulate Inertial Sensor Readings from a Driving Scenario
Generate synthetic sensor data from IMU, GPS, and wheel encoders using driving scenario generation tools from Automated Driving Toolbox™.
Simulate INS Block
In this example, you simulate an INS block by using the pose information of a vehicle undertaking a left-turn trajectory.

Featured Examples

Magnetometer Calibration

Magnetometers detect magnetic field strength along a sensor's X,Y and Z axes. Accurate magnetic field measurements are essential for sensor fusion and the determination of heading and orientation.

Open Script

Generate Off-Centered IMU Readings

Generate inertial measurement unit (IMU) readings from a sensor that is mounted on a ground vehicle. Depending on the location of the sensor, the IMU accelerations are different.

Open Live Script

Gesture Recognition Using Inertial Measurement Units

Recognize gestures based on a handheld inertial measurement unit (IMU). Gesture recognition is a subfield of the general Human Activity Recognition (HAR) field. In this example, you use quaternion dynamic time warping and clustering to build a template matching algorithm to classify five gestures.

Open Live Script

IMU Sensor Fusion with Simulink

Generate and fuse IMU sensor data using Simulink®. You can accurately model the behavior of an accelerometer, a gyroscope, and a magnetometer and fuse their outputs to compute orientation.

Open Script