modele_imu

Modèle générique IMU (Inertial Measuring Unit).

Espace de nom : tsd::kalman

Prototype

sptr<SSM> modele_imu(const IMUConfig &cfg)

Paramètres

cfgIMU model configuration,

Retourne

Modèle SSM

Description

Generic IMU model with Euler angles parametrization, and with the following (optionnal) sensors:

  • Accelerometer (3 axis),
  • Gyroscope (3 axis),
  • Magnetometer / compas (3 axis),
  • Barometer,
  • GPS

This model can be used either for simulation (see lien non trouvé : [structtsd_1_1kalman_1_1_s_s_m_a7e66b3403bcb078295d0abe599e1e568_1a7e66b3403bcb078295d0abe599e1e568]SSM::steps()) or for orientation / position estimation from experimental data (for instance using an EKF filter, see filtre_ekf()).

The model can use as a state vector either only the object orientation, or both the object orientation and localization. So it is two parts, where each part is optionnal (according to the configuration):

  • Position:\((x,y,z,\dot{x},\dot{y},\dot{z},\ddot{x},\ddot{y},\ddot{z})\),
  • Orientation:\((\phi,\theta,\psi,\dot{\phi},\dot{\theta},\dot{\psi})\).

The Observation vector is in this order: \((a_x,a_y,a_z,\omega_x,\omega_y,\omega_y,m_x,m_y,m_z,p_{baro},x_{gps},y_{gps},z_{gps})\), where each element is optionnal, according to the configuration.