why the yaw angle from the IMU+AHRS block have cnstant error with the true yaw angle?
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Hello Matlab Community,
I am just wondering if anyone has had any experience of using IMU+AHRS block from sensor fusion and tracking toolbox?Right now I have a quadcopter model and I'm trying to integrate this IMU+AHRS block to get the orientation and angular velocity which will be used in my estimator.
I think I got this IMU+AHRS block work, and the roll and pitch angles from this block match the true roll and pitch angles although there are some reasonable errors.However, the yaw angle from AHRS block always have constant error(around 0.1 rad which is 5.7 degree) with true yaw angle. All the parameters for IMU and AHRS block are default. I posted the simulation result of my simulink model and In this picture, you can see a clear mismatch in yaw angle. Is this a reasonable error or not? Thank you
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/471942/image.jpeg)
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VBBV
2020-12-28
Increase the overshoot peak or magnitude keeping the rise time of the signal constant
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Brian Fanous
2021-1-4
编辑:Brian Fanous
2021-1-5
It's tough to say what is going on without more information. Is this recorded or synthetic data and where/how was this recording made?
What might be happening is that you are seeing the difference between True North and Magnetic North. The difference between these two locations will show up as a constant offset in the yaw and is known as the magnetic declination. The AHRS Filter navigates to Magnetic North (because it assumes no GPS and no declination lookup table; it is intentionally somewhat simple). If your ground truth orientation is directed to True North you will see the difference in the declination.
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Brian Fanous
2021-1-4
There are tools in Aerospace Toolbox and Aerospace Blockset to calculate the magnetic declination at any location. You can use these tools to compensate for the declination difference in the AHRS. Typically we suggest doing any rotational math on the quaternion or rotation matrix representation, not the Euler angles (yaw).
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