insSensor
Description
The insSensor
System object™ models a device that fuses measurements from an inertial navigation system (INS)
and global navigation satellite system (GNSS) such as a GPS, and outputs the fused
measurements.
To output fused INS and GNSS measurements:
Create the
insSensor
object and set its properties.Call the object with arguments, as if it were a function.
To learn more about how System objects work, see What Are System Objects?
Creation
Description
returns a System object, INS
= insSensorINS
, that models a device that outputs measurements from
an INS and GNSS.
sets properties using one or
more name-value pairs. Unspecified properties have default values. Enclose each property
name in quotes.INS
= insSensor(Name,Value
)
Properties
Usage
Description
models the data received from an INS sensor reading and GNSS sensor reading. The output
measurement is based on the inertial ground-truth state of the sensor body,
measurement
= INS(gTruth
)gTruth
.
additionally specifies the time of simulation, measurement
= INS(gTruth
,simTime
)simTime
. To enable
this syntax, set the TimeInput
property to true
.
Input Arguments
Output Arguments
Object Functions
To use an object function, specify the
System object as the first input argument. For
example, to release system resources of a System object named obj
, use
this syntax:
release(obj)
Examples
Tips
To obtain the ground-truth state of actors in a driving scenario, use the
state
function.The sensor reports measurements in the local Cartesian coordinate system. To convert these measurements to geographic positions for visualization on a map, use the
local2latlon
function. To convert this data back to local coordinates, use thelatlon2local
function.
Extended Capabilities
Version History
Introduced in R2021a