Questa pagina è stata tradotta con la traduzione automatica. Fai clic qui per vedere l'ultima versione in inglese.

Modelli di sensori

Calibrazione e simulazione per IMU, GPS e sensori di portata

Eseguire la modellazione e la simulazione di sensori per accelerometri, magnetometri, giroscopi, altimetri, GPS, IMU e sensori di distanza. Analizza le letture dei sensori, il rumore dei sensori, le condizioni ambientali e altri parametri di configurazione. Genera traiettorie per emulare questi sensori mentre viaggiano attraverso il mondo e calibra le prestazioni dei tuoi sensori.

Per fondere più sensori o utilizzare altri algoritmi di localizzazione, vedere Localizzazione e stima della posa.

Per ulteriori informazioni sulla localizzazione e il posizionamento GNSS, vedere Posizionamento GNSS .

Funzioni

espandi tutto

Altimetro

altimeterSensor Altimeter simulation model

GPS

`gpsSensor`	GPS receiver simulation model
`nmeaParser`	Parse data from standard and manufacturer-specific NMEA sentences sent from marine electronic devices
`gpsdev`	Connect to a GPS receiver connected to host computer

IMU

`imuSensor`	IMU simulation model
`accelparams`	Accelerometer sensor parameters
`accelcal`	Parametri di calibrazione per l'accelerometro (Da R2023b)
`linaccel`	Linear acceleration from accelerometer reading (Da R2023b)
`magparams`	Magnetometer sensor parameters
`magcal`	Magnetometer calibration coefficients
`gyroparams`	Gyroscope sensor parameters
`allanvar`	varianza di Allan
`fractalcoef`	Filter coefficients for fractal noise generation (Da R2023b)
`gravitydir`	Gravity direction vector for given orientation (Da R2023b)
`tilt`	Tilt angle (Da R2023b)
`compassAngle`	Navigational heading relative to north (Da R2023b)

INS

insSensor Inertial navigation system and GNSS/GPS simulation model

Allineare

rangeSensor Simulate range-bearing sensor readings

Stazione spaziale

`gnssSensor`	Simulate GNSS to generate position and velocity readings
`gnssMeasurementGenerator`	Simulate GNSS measurements for scenarios (Da R2023a)

Encoder a ruota

`wheelEncoderUnicycle`	Simulate wheel encoder sensor readings for unicycle vehicle
`wheelEncoderBicycle`	Simulate wheel encoder sensor readings for bicycle vehicle
`wheelEncoderDifferentialDrive`	Simulate wheel encoder sensor readings for differential drive vehicle
`wheelEncoderAckermann`	Simulate wheel encoder sensor readings for Ackermann vehicle

Generatori di traiettoria

`kinematicTrajectory`	Rate-driven trajectory generator
`waypointTrajectory`	Waypoint trajectory generator

Ambito temporale

timescope Display time-domain signals

Blocchi

IMU	IMU simulation model
INS	Simulate INS sensor
GPS	Simulare le letture del sensore GPS con rumore (Da R2021b)

Argomenti

Introduction to Simulating IMU Measurements
This example shows how to simulate inertial measurement unit (IMU) measurements using the imuSensor System object™.
Generate IMU Readings on a Double Pendulum
This example shows how to generate inertial measurement unit (IMU) readings from two IMU sensors mounted on the links of a double pendulum.
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.
Wheel Encoder Error Sources
Explore the various error sources of wheel encoders and how they affect the wheel odometry estimate.
Rimuovere la distorsione dalla misurazione della velocità angolare
Questo esempio mostra come rimuovere la polarizzazione del giroscopio da una IMU utilizzando imufilter.
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™.
Simulate INS Block
In this example, you simulate an INS block by using the pose information of a vehicle undertaking a left-turn trajectory.

Esempi in primo piano

Magnetometer Calibration

Magnetometers detect magnetic field strength along a sensor's X,Y and Z axes. Accurate magnetic field measurements are essential for sensor fusion and the determination of heading and orientation.

Apri script

Generate Off-Centered IMU Readings

Generate inertial measurement unit (IMU) readings from a sensor that is mounted on a ground vehicle. Depending on the location of the sensor, the IMU accelerations are different.

Apri live script

Gesture Recognition Using Inertial Measurement Units

Recognize gestures based on a handheld inertial measurement unit (IMU). Gesture recognition is a subfield of the general Human Activity Recognition (HAR) field. In this example, you use quaternion dynamic time warping and clustering to build a template matching algorithm to classify five gestures.

Apri live script

IMU Sensor Fusion with Simulink

Generate and fuse IMU sensor data using Simulink®. You can accurately model the behavior of an accelerometer, a gyroscope, and a magnetometer and fuse their outputs to compute orientation.

Apri script