insfilter

Create inertial navigation filter

Syntax

filter = insfilter

filter = insfilter('ReferenceFrame',RF)

Description

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

filter = insfilter('ReferenceFrame',RF) returns an insfilterMARG inertial navigation filter object that estimates pose relative to a reference frame specified by RF.

Examples

Create Default INS Filter

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: [22⨯1 double]                
      StateCovariance: [22⨯22 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

Input Arguments

RF — Local navigation coordinate system

'NED' (default) | 'ENU'

Local navigation coordinate system, specified as either 'NED' (North-East-Down) or 'ENU' (East-North-Up).

Data Types: char | string

Extended Capabilities

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

Version History

Introduced in R2018b