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insfilter

Create inertial navigation filter

Description

example

filter = insfilter returns an insfilterMARG (Sensor Fusion and Tracking Toolbox) inertial navigation filter object that estimates pose based on accelerometer, gyroscope, GPS, and magnetometer measurements. See insfilterMARG (Sensor Fusion and Tracking Toolbox) for more details.

filter = insfilter('ReferenceFrame',RF) returns an insfilterMARG (Sensor Fusion and Tracking Toolbox) inertial navigation filter object that estimates pose relative to a reference frame specified by RF. Specify RF as 'NED' (North-East-Down) or 'ENU' (East-North-Up). The default value is 'NED'. See insfilterMARG (Sensor Fusion and Tracking Toolbox) for more details.

Examples

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The default INS filter is the insfilterMARG object. Call insfilter with no input arguments to create the default INS filter.

filter = insfilter
filter = 
  insfilterMARG with properties:

        IMUSampleRate: 100               Hz         
    ReferenceLocation: [0 0 0]           [deg deg m]
                State: [22x1 double]                
      StateCovariance: [22x22 double]               

   Multiplicative Process Noise Variances
            GyroscopeNoise: [1e-09 1e-09 1e-09]       (rad/s)²
        AccelerometerNoise: [0.0001 0.0001 0.0001]    (m/s²)² 
        GyroscopeBiasNoise: [1e-10 1e-10 1e-10]       (rad/s)²
    AccelerometerBiasNoise: [0.0001 0.0001 0.0001]    (m/s²)² 

   Additive Process Noise Variances
    GeomagneticVectorNoise: [1e-06 1e-06 1e-06]    uT²
     MagnetometerBiasNoise: [0.1 0.1 0.1]          uT²

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Introduced in R2018b