Adjust gravity, g, in imuSensor object accelerometer

Question

Gregory Harrison 2021-4-8

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https://ww2.mathworks.cn/matlabcentral/answers/796537-adjust-gravity-g-in-imusensor-object-accelerometer

编辑： Paul 2022-6-5

The imuSensor accelerometer uses a gravity acceleration of 9.81 [m/s^2], but the local gravity in my area is 9.7922 [m/s^2], and I would like to change the value that the imuSensor accelerometer uses for simulation of the accelerometer data to compare with an actual accelerometer. How can this be done?

Thanks

For background information, the gravity at your location can be calculated using the WGS-84 gravity model:

% from https://en.wikipedia.org/wiki/Theoretical_gravity, based on the

% WGS84 ellipsoid, the WGS (World Geodetic System) 1984 Ellipsoidal

% Gravity formula

theta = your latitude in radians

g_theta = 9.7803253359 * ((1 + 0.00193185265241 * sin(theta)^2)/ ...

(sqrt(1 - 0.00669437999013 * sin(theta)^2 )));

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Answer 1

Ryan Salvo 2021-4-27

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https://ww2.mathworks.cn/matlabcentral/answers/796537-adjust-gravity-g-in-imusensor-object-accelerometer#answer_686405

Hi Gregory,

Unfortunately, it is not currently possible to change the gravity acceleration in imuSensor. I've created an enhancement request for a future release.

Thanks,

Ryan

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John Tamkin 2022-6-5

Any updates on this? Running into the same issue

Paul 2022-6-5

编辑：Paul 2022-6-5

The better solution, IMO, is to not have imuSensor deal with gravity at all. The input to imuSensor should be specific force, which the user can compute based on whatever gravity model the user is using. Link to further discusson on this issue and others with imuSensor

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