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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

모두 확장

ahrsfilterOrientation from accelerometer, gyroscope, and magnetometer readings
ahrs10filterHeight and orientation from MARG and altimeter readings
complementaryFilterEstimate orientation using complementary filter
ecompassOrientation from magnetometer and accelerometer readings
imufilterOrientation from accelerometer and gyroscope readings
insfilterMARGEstimate pose from MARG and GPS data
insfilterAsyncEstimate pose from asynchronous MARG and GPS data
insfilterErrorStateEstimate pose from IMU, GPS, and monocular visual odometry (MVO) data
insfilterNonholonomicEstimate pose with nonholonomic constraints
insfilter관성 항법 필터 만들기
insEKFInertial Navigation Using Extended Kalman Filter (R2022a 이후)
insOptionsOptions for configuration of insEKF object (R2022a 이후)
insAccelerometerModel accelerometer readings for sensor fusion (R2022a 이후)
insGPSModel GPS readings for sensor fusion (R2022a 이후)
insGyroscopeModel gyroscope readings for sensor fusion (R2022a 이후)
insMagnetometerModel magnetometer readings for sensor fusion (R2022a 이후)
insMotionOrientationMotion model for 3-D orientation estimation (R2022a 이후)
insMotionPoseModel for 3-D motion estimation (R2022a 이후)
insCreateMotionModelTemplateCreate template file for motion model (R2022b 이후)
insCreateSensorModelTemplateCreate template file for sensor model (R2022b 이후)
positioning.INSMotionModelBase class for defining motion models used with insEKF (R2022a 이후)
positioning.INSSensorModelBase class for defining sensor models used with insEKF (R2022a 이후)
tunerconfigFusion filter tuner configuration options (R2020b 이후)
tunernoiseNoise structure of fusion filter (R2020b 이후)
tunerPlotPosePlot filter pose estimates during tuning (R2021a 이후)

블록

AHRSOrientation from accelerometer, gyroscope, and magnetometer readings (R2020a 이후)
Complementary FilterEstimate orientation using complementary filter (R2023a 이후)
IMU FilterEstimate orientation using IMU Filter (R2023b 이후)
ecompassCompute orientation from accelerometer and magnetometer readings (R2024a 이후)

도움말 항목

센서 융합

응용 사례

추천 예제