フィルターのクリア

Rate Transition Data Control

2 ビュー (過去 30 日間)
Fawad Farooq Ashraf
Fawad Farooq Ashraf 2023 年 6 月 6 日
回答済み: Joel Van Sickel 2023 年 6 月 7 日
I'm implementing an Extended Kalman Filter on SIMULINK for sensor fusion. I have Accelerometer, Gyroscope, GPS and a magnetometer. Accelerometer and Gyroscope are giving data at a high rate i.e., at 10 msec whereas GPS and magnetometer are giving outputs at 100 msec.
To handle this sampling rate, I have used rate transition blocks as shown in figure below.
I was expecting that in the EKF block, GPS data would be empty for the time steps that come in between 100 msec, but I see that it is holding the value at the previous time step of 100 msec. How can I handle this? I want GPS/Magnetometer output at 100, 200, 300, ... and so on and they should be empty at 110, 120, 130 etc

回答 (1 件)

Joel Van Sickel
Joel Van Sickel 2023 年 6 月 7 日
Simulink signals don't support an 'empty' value. They will simply stay at whatever value they were at previously. This is the same behavior you would see in a variable if you updated it at a slower rate than a different variable by writing code by hand. If you want, you can set their values to 0 for other moments, but that would require you to leave them at a faster rate and require much more logic to write a value of 0 anytime you aren't at an interval of 100 msec. This is the concept of a zero order hold and it does not prevent you from using a kalman filter.

カテゴリ

Help Center および File ExchangeSimulink についてさらに検索

タグ

製品


リリース

R2022b

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by