센서 모델
가속도계, 자력계, 자이로스코프, 고도계, GPS, IMU, 거리 센서에 대한 센서 모델링과 시뮬레이션을 수행합니다. 센서 측정값, 센서 잡음, 환경적 조건, 기타 구성 파라미터를 분석합니다. 궤적을 생성하여 실세계를 달리는 이러한 센서를 에뮬레이션하고 센서의 성능을 보정합니다.
여러 센서를 융합하거나 다른 위치추정 알고리즘을 사용하려면 위치추정과 자세 추정 항목을 참조하십시오.
함수
객체
gnssSensor | Simulate GNSS to generate position and velocity readings |
altimeterSensor | Altimeter simulation model |
gpsSensor | GPS receiver simulation model |
imuSensor | IMU simulation model |
insSensor | Inertial navigation system and GNSS/GPS simulation model |
rangeSensor | Simulate range-bearing sensor readings |
wheelEncoderUnicycle | Simulate wheel encoder sensor readings for unicycle vehicle |
wheelEncoderBicycle | Simulate wheel encoder sensor readings for bicycle vehicle |
wheelEncoderDifferentialDrive | Simulate wheel encoder sensor readings for differential drive vehicle |
wheelEncoderAckermann | Simulate wheel encoder sensor readings for Ackermann vehicle |
kinematicTrajectory | Rate-driven trajectory generator |
timescope | Display time-domain signals |
waypointTrajectory | Waypoint trajectory generator |
nmeaParser | Parse data from standard and manufacturer-specific NMEA sentences sent from marine electronic devices |
gpsdev | Connect to a GPS receiver connected to host computer |
도움말 항목
- Model IMU, GPS, and INS/GPS
Model combinations of inertial sensors and GPS
- Inertial Sensor Noise Analysis Using Allan Variance
This example shows how to use the Allan variance to determine noise parameters of a MEMS gyroscope.
- Wheel Encoder Error Sources
Explore the various error sources of wheel encoders and how they affect the wheel odometry estimate.
- Remove Bias from Angular Velocity Measurement
This example shows how to remove gyroscope bias from an IMU using
imufilter
. - Configure Time Scope MATLAB Object
Customize
timescope
properties and use measurement tools. - Simulate Inertial Sensor Readings from a Driving Scenario
Generate synthetic sensor data from IMU, GPS, and wheel encoders using driving scenario generation tools from Automated Driving Toolbox™.
- Analyze GPS Satellite Visibility
This example shows how to simulate and analyze GPS satellite visibility at specified receiver positions and times.
- Simulate GPS Sensor Noise
This example shows how to use the GPS block to add GPS sensor noise to position and velocity inputs in Simulink®.
- Simulate INS Block
In this example, you simulate an INS block by using the pose information of a vehicle undertaking a left-turn trajectory.