Pose Estimation and Orientation for a UAV in MATLAB

I have the following data:

1. Ax, Ay, Az (m/s^2) - update rate 10 Hz
2. Gx, Gy, Gz (rad/s) - update rate 10 Hz
3. GPS LLA (deg deg meters) - update rate 2 Hz
4. Roll, Pitch, Yaw (degrees) update rate 10 Hz

I want to develop a GNSS aided INS.

I am following the example given below:

https://www.mathworks.com/help/nav/ug/imu-and-gps-fusion-for-inertial-navigation.html

trajOrient = trajData.Orientation;

I got this using the below code:

%%
clear all;
close all;
clc;

%%
%Load sensor data
load IMUData.mat IMUData;

accelerometerReadings = IMUData(:, 2:4);
gyroscopeReadings = IMUData(:, 5:7);

%% Sampling Rate
imuFs = 10; %Hz
decim = 1;
fuse = imufilter('SampleRate',imuFs,'DecimationFactor',decim, 'ReferenceFrame', 'ENU','AccelerometerNoise',1e-6, 'GyroscopeDriftNoise',1e-6);

%%
OrientationData = fuse(accelerometerReadings,gyroscopeReadings);

trajVel = trajData.Velocity;

How do I get this data?

trajPos = trajData.Position;

How do I get this data?

trajAcc = trajData.Acceleration;

accelerometerReadings = IMUData(:, 2:4);

trajAngVel = trajData.AngularVelocity;

gyroscopeReadings = IMUData(:, 5:7);

Also, I do not have magnetometer. I have to do it using acc-gyro only.

initstate = [1-4 % Orientation as a quaternion

5-7 % Position (NED) %but my frame is in NEU maybe

8-10 % Velocity (NED)

11-13 % Delta Angle Bias (XYZ)

14-16 % Delta Velocity Bias (XYZ)

17-19; % Geomagnetic Field Vector (NED)

20-22] % Magnetometer Bias (XYZ)

How can I proceed with this?

Answer 1

[Brian Fanous]

The data in trajData is recorded synthetic data using imuSensor and gpsSensor.

If you do not have a magnetometer you should use the insEKF workflow.

[Aashir]

How can I generate my own trajectory?

I have a data having LLA (deg deg meters). Can I use this data to generate accelero and gyro data in the format as in the trajData?