관성 센서 융합

방향과 위치를 확인하기 위한 IMU 센서와 GPS 센서의 융합

관성 센서 융합 알고리즘을 사용하여 시간 경과에 따른 방향과 위치를 추정합니다. 이러한 알고리즘은 다양한 센서 구성, 출력 요구 사항, 모션 제약 조건에 대해 최적화됩니다. 여러 관성 센서의 IMU 데이터를 직접 융합할 수 있습니다. 또한 IMU 데이터를 GPS 데이터와 융합할 수도 있습니다.

함수

모두 확장

IMU 데이터 융합

`ecompass`	Orientation from magnetometer and accelerometer readings
`imufilter`	Orientation from accelerometer and gyroscope readings
`ahrsfilter`	Orientation from accelerometer, gyroscope, and magnetometer readings
`ahrs10filter`	Height and orientation from MARG and altimeter readings
`complementaryFilter`	Estimate orientation using complementary filter

IMU 데이터와 GPS 데이터 융합

`insfilterMARG`	Estimate pose from MARG and GPS data
`insfilterAsync`	Estimate pose from asynchronous MARG and GPS data
`insfilterErrorState`	Estimate pose from IMU, GPS, and monocular visual odometry (MVO) data
`insfilterNonholonomic`	Estimate pose with nonholonomic constraints
`insfilter`	관성 항법 필터 만들기

유연한 관성 센서 융합 필터

`insEKF`	Inertial Navigation Using Extended Kalman Filter (R2022a 이후)
`insOptions`	Options for configuration of `insEKF` object (R2022a 이후)
`insAccelerometer`	Model accelerometer readings for sensor fusion (R2022a 이후)
`insGPS`	Model GPS readings for sensor fusion (R2022a 이후)
`insGyroscope`	Model gyroscope readings for sensor fusion (R2022a 이후)
`insMagnetometer`	Model magnetometer readings for sensor fusion (R2022a 이후)
`insMotionOrientation`	Motion model for 3-D orientation estimation (R2022a 이후)
`insMotionPose`	Model for 3-D motion estimation (R2022a 이후)
`insCreateMotionModelTemplate`	Create template file for motion model (R2022b 이후)
`insCreateSensorModelTemplate`	Create template file for sensor model (R2022b 이후)
`positioning.INSMotionModel`	Base class for defining motion models used with `insEKF` (R2022a 이후)
`positioning.INSSensorModel`	Base class for defining sensor models used with `insEKF` (R2022a 이후)

필터 조정

`tunerconfig`	Fusion filter tuner configuration options (R2020b 이후)
`tunernoise`	Noise structure of fusion filter (R2020b 이후)
`tunerPlotPose`	Plot filter pose estimates during tuning (R2021a 이후)

블록

AHRS	Orientation from accelerometer, gyroscope, and magnetometer readings (R2020a 이후)
IMU Filter	Estimate orientation using IMU Filter (R2023b 이후)
ecompass	Compute orientation from accelerometer and magnetometer readings (R2024a 이후)
Complementary Filter	Estimate orientation using complementary filter (R2023a 이후)

도움말 항목

Choose Inertial Sensor Fusion Filters
Applicability and limitations of various inertial sensor fusion filters.
Fuse Inertial Sensor Data Using insEKF-Based Flexible Fusion Framework
The insEKF filter object provides a flexible framework that you can use to fuse inertial sensor data.
Determine Orientation Using Inertial Sensors
Fuse inertial measurement unit (IMU) readings to determine orientation.
Estimate Orientation Through Inertial Sensor Fusion
This example shows how to use 6-axis and 9-axis fusion algorithms to compute orientation.
Determine Pose Using Inertial Sensors and GPS
Use Kalman filters to fuse IMU and GPS readings to determine pose.
Logged Sensor Data Alignment for Orientation Estimation
This example shows how to align and preprocess logged sensor data.

추천 예제

관성 항법을 위한 IMU 및 GPS 융합

이 예제는 UAV(무인 항공기) 또는 쿼드콥터에 적합한 IMU + GPS 융합 알고리즘을 작성하는 방법을 보여줍니다.

라이브 스크립트 열기

Estimate Orientation and Height Using IMU, Magnetometer, and Altimeter

Fuse data from a 3-axis accelerometer, 3-axis gyroscope, 3-axis magnetometer (together commonly referred to as a MARG sensor for Magnetic, Angular Rate, and Gravity), and 1-axis altimeter to estimate orientation and height.

라이브 스크립트 열기

Pose Estimation from Asynchronous Sensors

How you might fuse sensors at different rates to estimate pose. Accelerometer, gyroscope, magnetometer and GPS are used to determine orientation and position of a vehicle moving along a circular path. You can use controls on the figure window to vary sensor rates and experiment with sensor dropout while seeing the effect on the estimated pose.

스크립트 열기

Detect Multipath GPS Reading Errors Using Residual Filtering in Inertial Sensor Fusion

Use the residualgps object function and residual filtering to detect when new sensor measurements may not be consistent with the current filter state.

스크립트 열기

Automatic Tuning of the insfilterAsync Filter

The insfilterAsync (Navigation Toolbox) object is a complex extended Kalman filter that estimates the device pose. However, manually tuning the filter or finding the optimal values for the noise parameters can be a challenging task. This example illustrates how to use the tune (Navigation Toolbox) function to optimize the filter noise parameters.

라이브 스크립트 열기

Custom Tuning of Fusion Filters

Use the tune function to optimize the noise parameters of several fusion filters, including the ahrsfilter object. This example shows how to customize a cost function for various optimization goals.

R2021a 이후
라이브 스크립트 열기

Simulink를 사용한 IMU 센서 융합

이 예제에서는 Simulink®를 사용하여 IMU 센서 데이터를 생성하고 융합하는 방법을 보여줍니다. 가속도계, 자이로스코프, 자력계의 동작을 정확하게 모델링하고 그 출력값을 융합하여 방향을 계산할 수 있습니다.

스크립트 열기

Design Fusion Filter for Custom Sensors

Introduces how to customize sensor models used with an insEKF object.

R2022a 이후
라이브 스크립트 열기

Estimate Orientation Using GPS-Derived Yaw Measurements

Define and use a custom sensor model for the insEKF object along with built-in sensor models. Using a custom yaw angle sensor, an accelerometer, and a gyroscope, this example uses the insEKF object to determine the orientation of a vehicle. You use the velocity from a GPS receiver to compute the yaw of the vehicle. Following a similar approach as shown in this example, you can develop custom sensor models for your own sensor fusion applications.

R2022a 이후
라이브 스크립트 열기

Ground Vehicle Pose Estimation for Tightly Coupled IMU and GNSS

Estimate the position and orientation of a ground vehicle by building a tightly coupled extended Kalman filter and using it to fuse sensor measurements. A tightly coupled filter fuses inertial measurement unit (IMU) readings with raw global navigation satellite system (GNSS) readings. In contrast, a loosely coupled filter fuses IMU readings with filtered GNSS receiver readings.

R2022a 이후
라이브 스크립트 열기