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センサー モデル

IMU、GPS および距離センサーのキャリブレーションとシミュレーション

加速度計、磁力計、ジャイロスコープ、高度計、GPS、IMU および距離センサーについて、センサーのモデリングとシミュレーションを実行します。センサーの読み取り値、センサー ノイズ、環境条件およびその他の構成パラメーターを解析します。軌跡を生成して、ワールド内でのこれらのセンサーの移動をエミュレートし、センサーのパフォーマンスのキャリブレーションを行います。



accelparamsAccelerometer sensor parameters
allanvarAllan variance
gyroparamsGyroscope sensor parameters
magparamsMagnetometer sensor parameters
magcalMagnetometer calibration coefficients
gnssconstellationSatellite locations at specified time
lookanglesSatellite look angles from receiver and satellite positions
pseudorangesPseudoranges between GNSS receiver and satellites
receiverpositionEstimate GNSS receiver position and velocity
skyplotPlot satellite azimuth and elevation data


gnssSensorSimulate GNSS to generate position and velocity readings
altimeterSensorAltimeter simulation model
gpsSensorGPS receiver simulation model
imuSensorIMU simulation model
insSensorInertial navigation system and GNSS/GPS simulation model
rangeSensorSimulate range-bearing sensor readings
wheelEncoderUnicycleSimulate wheel encoder sensor readings for unicycle vehicle
wheelEncoderBicycleSimulate wheel encoder sensor readings for bicycle vehicle
wheelEncoderDifferentialDriveSimulate wheel encoder sensor readings for differential drive vehicle
wheelEncoderAckermannSimulate wheel encoder sensor readings for Ackermann vehicle
kinematicTrajectoryRate-driven trajectory generator
timescopeDisplay time-domain signals
waypointTrajectoryWaypoint trajectory generator
nmeaParserParse data from standard and manufacturer-specific NMEA sentences sent from marine electronic devices
gpsdevConnect to a GPS receiver connected to host computer


AHRSOrientation from accelerometer, gyroscope, and magnetometer readings
IMUIMU simulation model
INSSimulate INS sensor


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. These parameters can be used to model the gyroscope in simulation. The gyroscope measurement is modeled as:

Wheel Encoder Error Sources

Explore the various error sources of wheel encoders and how they affect the wheel odometry estimate. After defining a ground truth trajectory, change parameters for wheel radius bias, wheel position noise, wheel slippage, and track width for the various wheel encoder objects. Notice the affects of changing these parameters on the output trajectory from the wheel encoder sensor models.


この例では、imufilter を使用して IMU からジャイロスコープのバイアスを削除する方法を説明します。

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™. The drivingScenario object simulates the driving scenario and sensor data is generated from the imuSensor, gpsSensor and wheelEncoderAckermann objects.