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gyroparams

陀螺仪传感器parameters

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Description

Thegyroparamsclass creates a gyroscope sensor parameters object. You can use this object to model a gyroscope when simulating an IMU withimuSensor. See theAlgorithmssection ofimuSensorfor details ofgyroparamsmodeling.

Creation

Syntax

params = gyroparams

params = gyroparams(Name,Value)

Description

params= gyroparamsreturns an ideal gyroscope sensor parameters object with default values.

params= gyroparams(Name,Value)configuresgyroparamsobject properties using one or moreName,Valuepair arguments.Nameis a property name andValueis the corresponding value.Namemust appear inside single quotes (''). You can specify several name-value pair arguments in any order asName1,Value1,...,NameN,ValueN. Any unspecified properties take default values.

Properties

`MeasurementRange`—Maximum sensor reading (rad/s)
`Inf`(default) |real positive scalar

Maximum sensor reading in rad/s, specified as a real positive scalar.

Data Types:single|double

`Resolution`—Resolution of sensor measurements ((rad/s)/LSB)
`0`(default) |real nonnegative scalar

Resolution of sensor measurements in (rad/s)/LSB, specified as a real nonnegative scalar. Here, LSB is the acronym for least significant bit.

Data Types:single|double

`ConstantBias`—Constant sensor offset bias (rad/s)
`[0 0 0]`(default) |real scalar|real 3-element row vector

Constant sensor offset bias in rad/s, specified as a real scalar or 3-element row vector. Any scalar input is converted into a real 3-element row vector where each element has the input scalar value.

Data Types:single|double

`AxesMisalignment`—Sensor axes skew (%)
`diag([100 100 100])`(default) |scalar in the range [0,100]|3-element row vector in the range [0,100]|3-by-3 matrix in the range [0,100]

Sensor axes skew in percentage, specified as a scalar, a 3-element row vector, or a 3-by-3 matrix with values ranging from0to100. The diagonal elements of the matrix account for the misalignment effects for each axes. The off-diagonal elements account for the cross-axes misalignment effects. The measured statev_measureis obtained from the true statev_truevia the misalignment matrix as:

$v_{m e a s u r e} = \frac{1}{100} M v_{t r u e} = \frac{1}{100} [\begin{matrix} m_{11} & m_{12} & m_{13} \\ m_{21} & m_{22} & m_{23} \\ m_{31} & m_{32} & m_{33} \end{matrix}] v_{t r u e}$

If you specify the property as a scalar, then all the off-diagonal elements of the matrix take the value of the specified scalar and all the diagonal elements are 100.
If you specify the property as a vector [abc], thenm₂₁=m₃₁=a,m₁₂=m₃₂=b, andm₁₃=m₂₃=c. All the diagonal elements are 100.

Data Types:single|double

`NoiseDensity`—Power spectral density of sensor noise ((rad/s)/√Hz)
`[0 0 0]`(default) |real scalar|real 3-element row vector

Power spectral density of sensor noise in (rad/s)/√Hz, specified as a real scalar or 3-element row vector. This property corresponds to the angle random walk (ARW). Any scalar input is converted into a real 3-element row vector where each element has the input scalar value.

Data Types:single|double

`BiasInstability`—Instability of the bias offset (rad/s)
`[0 0 0]`(default) |real scalar|real 3-element row vector

Instability of the bias offset in rad/s, specified as a real scalar or 3-element row vector. Any scalar input is converted into a real 3-element row vector where each element has the input scalar value.

Data Types:single|double

`RandomWalk`—Integrated white noise of sensor ((rad/s)(√Hz))
`[0 0 0]`(default) |real scalar|real 3-element row vector

Integrated white noise of sensor in (rad/s)(√Hz), specified as a real scalar or 3-element row vector. Any scalar input is converted into a real 3-element row vector where each element has the input scalar value.

Data Types:single|double

`TemperatureBias`—Sensor bias from temperature ((rad/s)/℃)
`[0 0 0]`(default) |real scalar|real 3-element row vector

Sensor bias from temperature in ((rad/s)/℃), specified as a real scalar or 3-element row vector. Any scalar input is converted into a real 3-element row vector where each element has the input scalar value.

Data Types:single|double

`TemperatureScaleFactor`—Scale factor error from temperature (%/℃)
`[0 0 0]`(default) |real scalar in the range [0,100]|real 3-element row vector in the range [0,100]

Scale factor error from temperature in (%/℃), specified as a real scalar or 3-element row vector with values ranging from 0 to 100. Any scalar input is converted into a real 3-element row vector where each element has the input scalar value.

Data Types:single|double

`AccelerationBias`—Sensor bias from linear acceleration (rad/s)/(m/s²)
`[0 0 0]`(default) |real scalar|real 3-element row vector

Sensor bias from linear acceleration in (rad/s)/(m/s²), specified as a real scalar or 3-element row vector. Any scalar input is converted into a real 3-element row vector where each element has the input scalar value.

Data Types:single|double

Examples

Generate Gyroscope Data from Stationary Inputs

Open Live Script

Generate gyroscope data for an imuSensor object from stationary inputs.

Generate a gyroscope parameter object with a maximum sensor reading of 4.363 $rad / s$ and a resolution of 1.332e-4 $(rad / s) / LSB$ . The constant offset bias is 0.349 $rad / s$ . The sensor has a power spectral density of 8.727e-4 $\begin{array}{l} r a d / s / \sqrt{H z} \\ . The bias from temperature is 0.349 r a d / s /^{0} C \end{array}$ . The bias from temperature is 0.349 $(rad / s^{2})$ $/^{0} C$ . The scale factor error from temperature is 0.2% $/^{0} C$ . The sensor axes are skewed by 2%. The sensor bias from linear acceleration is 0.178e-3 $(r a d / s) / (m / s^{2})$

params = gyroparams('MeasurementRange',4.363,'Resolution',1.332e-04,“ConstantBias”,0.349,'NoiseDensity',8.727e-4,'TemperatureBias',0.349,'TemperatureScaleFactor',0.02,'AxesMisalignment',2,'AccelerationBias',0.178e-3);

Use a sample rate of 100 Hz spaced out over 1000 samples. Create the imuSensor object using the gyroscope parameter object.

Fs = 100; numSamples = 1000; t = 0:1/Fs:(numSamples-1)/Fs; imu = imuSensor('accel-gyro','SampleRate', Fs,'Gyroscope', params);

Generate gyroscope data from the imuSensor object.

orient = quaternion.ones(numSamples, 1); acc = zeros(numSamples, 3); angvel = zeros(numSamples, 3); [~, gyroData] = imu(acc, angvel, orient);

Plot the resultant gyroscope data.

plot(t, gyroData) title('Gyroscope') xlabel('s') ylabel('rad/s')

Figure contains an axes object. The axes object with title Gyroscope contains 3 objects of type line.

Extended Capabilities

C / c++代码生成
Generate C and C++ code using MATLAB® Coder™.

版本历史

Introduced in R2018b

See Also

accelparams|magparams|imuSensor

Topics

Model IMU, GPS, and INS/GPS