How do I estimate position from an imu in the case of gps dropout in simulink?

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Quintez 2025-1-4

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https://ww2.mathworks.cn/matlabcentral/answers/2172667-how-do-i-estimate-position-from-an-imu-in-the-case-of-gps-dropout-in-simulink

编辑： Nivedita 2025-1-17

For a project I have to do in one of my classes, i have to estimate position from an imu in the case of gps dropout. I've figured out how to simulate gps dropout but i haven't quite figured out how to estimte the position using the imu. I have a few pictures of what I have and the numbers i get at the end of the process for the imu do not match the actual position that is output by the ins sensor. I was told to do it this way by a friend although something must be incorrect. Thank you !

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Answer 1

Nivedita 2025-1-17

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编辑：Nivedita 2025-1-17

To estimate position using data from accelerometer and IMU sensor (orientation), you can integrate the acceleration data once to get the velocity and twice to get the position. To get in the global coordinate frame, these integrated data need to be corrected based on the instantaneous orientation. Currently, I think there is no function that can directly do this.

In case you have GPS data as well, you can use 'pose' function to estimate position and velocity, as described in the following documentations:

https://www.mathworks.com/help/nav/ref/marggpsfuser.pose.html

https://www.mathworks.com/help/nav/ug/estimate-position-and-orientation-of-a-ground-vehicle.html

I hope this helps!