ecompass

Compute orientation from accelerometer and magnetometer readings

Since R2024a

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Libraries:
Sensor Fusion and Tracking Toolbox / Multisensor Positioning / Navigation Filters
Navigation Toolbox / Multisensor Positioning / Navigation Filters

Description

The ecompass Simulink^® block computes orientation using accelerometer and magnetometer readings. You can use the computed orientation to rotate quantities from global coordinate system to sensor body coordinate system.

Ports

Input

Accel — Accelerometer readings

N-by-3 matrix of real scalar

Accelerometer readings in sensor body coordinate system in m/s², specified as an N-by-3 matrix of real scalar. The columns of the matrix correspond to the x-, y-, and z-axes of the sensor body. The rows in the matrix, N, correspond to individual samples.

Data Types: single | double

Mag — Magnetometer readings

N-by-3 matrix of real scalar

Magnetometer readings in sensor body coordinate system in µT, specified as an N-by-3 matrix. The columns of the matrix correspond to the x-, y-, and z-axes of the sensor body. The rows in the matrix, N, correspond to individual samples.

Data Types: single | double

Output

Orientation — Orientation that rotates quantities from global coordinate system to sensor body coordinate system

N-by-4 matrix of quaternions (default) | 3-by-3-by-N array

Orientation that can rotate quantities from a global coordinate system to a sensor body coordinate system, returned as an N-by-4 matrix of quaternions or 3-by-3-by-N array of rotation matrices. N denotes the number of samples. Orientations are the rotation that takes a quantity from the local navigation coordinate system to the body coordinate system.

• If the Orientation format is specified as quaternion, the block returns the orientation as an N-by-4 matrix of quaternions.

• If the Orientation format is specified as Rotation matrix, the block returns the orientation as an 3-by-3-by-N array of rotation matrices.

Data Types: single | double

Parameters

To edit block parameters interactively, use the Property Inspector. From the Simulink Toolstrip, on the Simulation tab, in the Prepare gallery, select Property Inspector.

Reference frame — Navigation reference frame

NED (default) | ENU

Navigation reference frame, specified as NED for North-East-Down frame or ENU for East-North-Up frame.

Orientation format — Format used to describe orientation

quaternion (default) | Rotation matrix

Format used to describe orientation, specified as 'quaternion' or 'Rotation matrix'.

Simulate using — Type of simulation to run

Interpreted execution (default) | Code generation

• Interpreted execution — Simulate the model using the MATLAB^® interpreter. This option shortens startup time. In Interpreted execution mode, you can debug the source code of the block.

• Code generation — Simulate the model using generated C code. The first time that you run a simulation, Simulink generates C code for the block. The C code is reused for subsequent simulations if the model does not change. This option requires additional startup time.

Extended Capabilities

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

Version History

Introduced in R2024a