How can I generate trajectory and INS data from the GPS data I have?

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Aashir
Aashir 2025-3-17
评论： Cris LaPierre 2025-3-24
I want to generate the trajectory using the GPS data I have in LLA (deg deg m).
Then I want to generate the IMU data from that trajectory.
My end goal is to apply insmargfilter to pose the Estimation and Orientation for a UAV in MATLAB.
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Aashir
Aashir 2025-3-20
编辑：Walter Roberson 2025-3-20
I have the following data:
Ax, Ay, Az (m/s^2) - update rate 10 Hz
Gx, Gy, Gz (rad/s) - update rate 10 Hz
GPS LLA (deg deg meters) - update rate 2 Hz
Roll, Pitch, Yaw (degrees) update rate 10 Hz
I want to develop a GNSS aided INS.
I am following the example given below:
https://www.mathworks.com/help/nav/ug/imu-and-gps-fusion-for-inertial-navigation.html
initstate = [1-4 % Orientation as a quaternion
5-7 % Position (NED) %but my frame is in NEU maybe
8-10 % Velocity (NED)
11-13 % Delta Angle Bias (XYZ)
14-16 % Delta Velocity Bias (XYZ)
17-19; % Geomagnetic Field Vector (NED)
20-22] % Magnetometer Bias (XYZ)
How can I proceed with this?
How can I run this example with my data?
If that is not possible, is there any way to create a similar dummy data as in the example trajData?
Aashir
Aashir 2025-3-20

Example says:

UAV Trajectory This example uses a saved trajectory recorded from a UAV as the ground truth. This trajectory is fed to several sensor simulators to compute simulated accelerometer, gyroscope, magnetometer, and GPS data streams.

How do I compute simulated accelerometer, gyroscope, magnetometer, and GPS data using my trajectory?

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回答（1 个）

Cris LaPierre
Cris LaPierre 2025-3-20
编辑：Cris LaPierre 2025-3-20
Ran in:
Looking at your raw data, it looks like you should probably use waypointTrajectory with the following syntax:
trajectory = waypointTrajectory(Waypoints,Velocities=velocities)
Your excel file has 37802 rows of data, but only 7355 have Lat/Lon/Height data, so I assumed those with missing data could be ignored.
log = readtable('Data.xlsx','MissingRule','omitrow')
Warning: Column headers from the file were modified to make them valid MATLAB identifiers before creating variable names for the table. The original column headers are saved in the VariableDescriptions property.
Set 'VariableNamingRule' to 'preserve' to use the original column headers as table variable names.
log = 7355x12 table
GPSLongitude GPSLatitude GPSHeight dAvgAX dAvgAY dAvgAZ dAvgGX dAvgGY dAvgGZ fNavSpeedE_100 fNavSpeedN_100 fNavSpeedU_100 ____________ ___________ _________ ______ ________ _______ ___________ ___________ ___________ ______________ ______________ ______________ 72.039 31.403 167.19 2.1775 -0.18661 -9.5648 -0.00048591 -0.00051175 0.00045591 -1 1 0 72.039 31.403 167.19 2.1748 -0.18644 -9.5581 -0.00020717 -0.0006527 -0.00026477 -1 1 0 72.039 31.403 167.18 2.1788 -0.18702 -9.5698 0.00036346 -0.00027404 0.00048793 -1 2 0 72.039 31.403 167.18 2.1768 -0.19553 -9.5645 -0.00071975 -0.00083373 -0.00032118 -1 2 0 72.039 31.403 167.18 2.1767 -0.18875 -9.5641 0.00021002 -0.00097967 2.7855e-06 -1 2 0 72.039 31.403 167.18 2.1772 -0.18601 -9.5672 0.00010558 -0.00054131 0.00032214 -1 2 0 72.039 31.403 167.18 2.1857 -0.19286 -9.5654 -0.00044786 -0.00059937 0.00045713 -1 2 0 72.039 31.403 167.18 2.1872 -0.18315 -9.5645 7.4857e-06 -0.00052392 0.00063988 -1 3 0 72.039 31.403 167.19 2.1803 -0.19007 -9.5659 -0.00025747 -0.0006786 0.0011932 -1 3 0 72.039 31.403 167.19 2.1837 -0.17955 -9.5672 -0.00022593 -0.00098522 -0.00043526 -2 3 0 72.039 31.403 167.2 2.1813 -0.1882 -9.5678 -0.0010648 -0.00062555 0.00027332 -1 2 0 72.039 31.403 167.2 2.1705 -0.18567 -9.5626 -0.00063489 1.1322e-05 -0.00028094 -1 2 0 72.039 31.403 167.21 2.1858 -0.19167 -9.5674 -0.00054358 -0.00082081 -4.8649e-05 -1 2 0 72.039 31.403 167.21 2.178 -0.18685 -9.5624 -5.3561e-05 -0.00014373 -0.00029054 -1 2 0 72.039 31.403 167.2 2.1758 -0.19076 -9.5611 -0.00082912 -0.00084195 0.0003127 -1 3 0 72.039 31.403 167.2 2.1747 -0.19682 -9.559 -3.898e-05 -0.0011071 0.00025947 -2 3 0
Waypoints = log{:,["GPSLatitude","GPSLongitude","GPSHeight"]};
vel = log{:,["fNavSpeedE_100","fNavSpeedE_100","fNavSpeedE_100"]};
uavTraj = waypointTrajectory(Waypoints,Velocities=vel)
uavTraj =
waypointTrajectory with properties: SampleRate: 100 SamplesPerFrame: 1 Waypoints: [7355x3 double] TimeOfArrival: [7355x1 double] Velocities: [7355x3 double] Course: [7355x1 double] GroundSpeed: [7355x1 double] ClimbRate: [7355x1 double] JerkLimit: Inf InitialTime: 0 WaitTime: [7355x1 double] Orientation: [7355x1 quaternion] AutoPitch: 0 AutoBank: 0 ReferenceFrame: 'NED'
I found this answer helpful for the next part: Generation of artificial IMU data from simple waypoint trajectory
count = 1;
while ~isDone(uavTraj)
[position(count,:),orientation(count,:),velocity(count,:),acceleration(count,:),angularVelocity(count,:)] = uavTraj();
count = count + 1;
end
accelParams = accelparams;
gyroParams = gyroparams;
% Generate IMU readings
imu = imuSensor('accel-gyro', 'Accelerometer', accelParams, 'Gyroscope', gyroParams)
imu =
imuSensor with properties: IMUType: 'accel-gyro' SampleRate: 100 Temperature: 25 Accelerometer: [1x1 accelparams] Gyroscope: [1x1 gyroparams] RandomStream: 'Global stream'
[accelReadings, gyroReadings] = imu(acceleration, angularVelocity, orientation);
The final list of functions, then, would be
As for visualizing the data, I found the Visualize UAV Flight Path on 2-D and 3-D Maps example helpful for that as well as the geoplot3 function documentation page.
There is another way to simulat IMU sensor data that is shown in the Simulate IMU Sensor Mounted on UAV example, but I did not look into that.
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Aashir
Aashir 2025-3-24

See, the error is 2.5km and 1.3 km which is too big on the simulated data. How can this be resolved?

Cris LaPierre
Cris LaPierre 2025-3-24
That does seem high. Unfortunately, at this point, I'd just be googling the same as you to try to figure out the issue. Hopefully someone else with more expierience can jump in.

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