관성 센서 융합

IMU 및 GPS, 센서 융합, 사용자 지정 필터 조정을 통한 관성 항법

관성 센서 융합에서는 IMU, GPS, 기타 센서의 측정값을 개선하고 결합하기 위해 필터를 사용합니다. 특정 센서를 모델링하려면 센서 모델 항목을 참조하십시오.

동시적 위치추정 및 지도작성에 대한 내용은 SLAM 항목을 참조하십시오.

함수

IMU 데이터 융합

`ahrsfilter`	Orientation from accelerometer, gyroscope, and magnetometer readings
`ahrs10filter`	Height and orientation from MARG and altimeter readings
`complementaryFilter`	Estimate orientation using complementary filter (R2019b 이후)
`ecompass`	Orientation from magnetometer and accelerometer readings
`imufilter`	Orientation from accelerometer and gyroscope readings

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

도움말 항목

센서 융합

Choose Inertial Sensor Fusion Filters
Applicability and limitations of various inertial sensor fusion filters.
Estimate Orientation Through Inertial Sensor Fusion
This example shows how to use 6-axis and 9-axis fusion algorithms to compute orientation.
Estimate Orientation with a Complementary Filter and IMU Data
This example shows how to stream IMU data from an Arduino and estimate orientation using a complementary filter.
Logged Sensor Data Alignment for Orientation Estimation
This example shows how to align and preprocess logged sensor data.
Lowpass Filter Orientation Using Quaternion SLERP
This example shows how to use spherical linear interpolation (SLERP) to create sequences of quaternions and lowpass filter noisy trajectories.
Pose Estimation from Asynchronous Sensors
This example shows how you might fuse sensors at different rates to estimate pose.
Custom Tuning of Fusion Filters
Use the tune function to optimize the noise parameters of several fusion filters, including the ahrsfilter object.
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.
Autonomous Underwater Vehicle Pose Estimation Using Inertial Sensors and Doppler Velocity Log
This example shows how to fuse data from a GPS, Doppler Velocity Log (DVL), and inertial measurement unit (IMU) sensors to estimate the pose of an autonomous underwater vehicle (AUV) shown in this image.

응용 사례

Binaural Audio Rendering Using Head Tracking
Track head orientation by fusing data received from an IMU, and then control the direction of arrival of a sound source by applying head-related transfer functions (HRTF).
Tilt Angle Estimation Using Inertial Sensor Fusion and ADIS16505
Get data from Analog Devices ADIS16505 IMU sensor and use sensor fusion on the data to compute the tilt of the sensor. (R2024a 이후)
Wireless Data Streaming and Sensor Fusion Using BNO055
This example shows how to get data from a Bosch BNO055 IMU sensor through an HC-05 Bluetooth® module, and to use the 9-axis AHRS fusion algorithm on the sensor data to compute orientation of the device.

추천 예제

관성 항법을 위한 IMU 및 GPS 융합

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

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지상 이동체의 위치와 방향 추정하기

이 예제는 IMU(관성 측정 장치)와 GPS(위성 측위 시스템) 수신기에서 제공되는 데이터를 융합하여 지상 이동체의 위치와 방향을 추정하는 방법을 보여줍니다.

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.

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

Estimate Phone Orientation Using Sensor Fusion

MATLAB Mobile™ reports sensor data from the accelerometer, gyroscope, and magnetometer on Apple or Android mobile devices. Raw data from each sensor or fused orientation data can be obtained. This example shows how to compare the fused orientation data from the phone with the orientation estimate from the ahrsfilter object.

라이브 스크립트 열기

Visual-Inertial Odometry Using Synthetic Data

Estimate the pose (position and orientation) of a ground vehicle using an inertial measurement unit (IMU) and a monocular camera. In this example, you:

스크립트 열기

Automatic Tuning of the insfilterAsync Filter

The insfilterAsync 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 function to optimize the filter noise parameters.

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Design Fusion Filter for Custom Sensors

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

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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.

라이브 스크립트 열기

Estimate Orientation Using AHRS Filter and IMU Data in Simulink

Stream IMU data from sensors connected to Arduino® board and estimate orientation using AHRS filter and IMU sensor.

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