Pose Estimation and Orientation for a UAV in MATLAB
I have the following data:
Ax, Ay, Az (m/s^2) – update rate 10 Hz
Gx, Gy, Gz (rad/s) – update rate 10 Hz
GPS LLA (deg deg meters) – update rate 2 Hz
Roll, Pitch, Yaw (degrees) update rate 10 Hz
I want to develop a GNSS aided INS.
I am following the example given below:
https://www.mathworks.com/help/nav/ug/imu-and-gps-fusion-for-inertial-navigation.html
trajOrient = trajData.Orientation;
I got this using the below code:
%%
clear all;
close all;
clc;
%%
%Load sensor data
load IMUData.mat IMUData;
accelerometerReadings = IMUData(:, 2:4);
gyroscopeReadings = IMUData(:, 5:7);
%% Sampling Rate
imuFs = 10; %Hz
decim = 1;
fuse = imufilter(‘SampleRate’,imuFs,’DecimationFactor’,decim, ‘ReferenceFrame’, ‘ENU’,’AccelerometerNoise’,1e-6, ‘GyroscopeDriftNoise’,1e-6);
%%
OrientationData = fuse(accelerometerReadings,gyroscopeReadings);
trajVel = trajData.Velocity;
How do I get this data?
trajPos = trajData.Position;
How do I get this data?
trajAcc = trajData.Acceleration;
accelerometerReadings = IMUData(:, 2:4);
trajAngVel = trajData.AngularVelocity;
gyroscopeReadings = IMUData(:, 5:7);
Also, I do not have magnetometer. I have to do it using acc-gyro only.
initstate = [1-4 % Orientation as a quaternion
5-7 % Position (NED) %but my frame is in NEU maybe
8-10 % Velocity (NED)
11-13 % Delta Angle Bias (XYZ)
14-16 % Delta Velocity Bias (XYZ)
17-19; % Geomagnetic Field Vector (NED)
20-22] % Magnetometer Bias (XYZ)
How can I proceed with this?I have the following data:
Ax, Ay, Az (m/s^2) – update rate 10 Hz
Gx, Gy, Gz (rad/s) – update rate 10 Hz
GPS LLA (deg deg meters) – update rate 2 Hz
Roll, Pitch, Yaw (degrees) update rate 10 Hz
I want to develop a GNSS aided INS.
I am following the example given below:
https://www.mathworks.com/help/nav/ug/imu-and-gps-fusion-for-inertial-navigation.html
trajOrient = trajData.Orientation;
I got this using the below code:
%%
clear all;
close all;
clc;
%%
%Load sensor data
load IMUData.mat IMUData;
accelerometerReadings = IMUData(:, 2:4);
gyroscopeReadings = IMUData(:, 5:7);
%% Sampling Rate
imuFs = 10; %Hz
decim = 1;
fuse = imufilter(‘SampleRate’,imuFs,’DecimationFactor’,decim, ‘ReferenceFrame’, ‘ENU’,’AccelerometerNoise’,1e-6, ‘GyroscopeDriftNoise’,1e-6);
%%
OrientationData = fuse(accelerometerReadings,gyroscopeReadings);
trajVel = trajData.Velocity;
How do I get this data?
trajPos = trajData.Position;
How do I get this data?
trajAcc = trajData.Acceleration;
accelerometerReadings = IMUData(:, 2:4);
trajAngVel = trajData.AngularVelocity;
gyroscopeReadings = IMUData(:, 5:7);
Also, I do not have magnetometer. I have to do it using acc-gyro only.
initstate = [1-4 % Orientation as a quaternion
5-7 % Position (NED) %but my frame is in NEU maybe
8-10 % Velocity (NED)
11-13 % Delta Angle Bias (XYZ)
14-16 % Delta Velocity Bias (XYZ)
17-19; % Geomagnetic Field Vector (NED)
20-22] % Magnetometer Bias (XYZ)
How can I proceed with this? I have the following data:
Ax, Ay, Az (m/s^2) – update rate 10 Hz
Gx, Gy, Gz (rad/s) – update rate 10 Hz
GPS LLA (deg deg meters) – update rate 2 Hz
Roll, Pitch, Yaw (degrees) update rate 10 Hz
I want to develop a GNSS aided INS.
I am following the example given below:
https://www.mathworks.com/help/nav/ug/imu-and-gps-fusion-for-inertial-navigation.html
trajOrient = trajData.Orientation;
I got this using the below code:
%%
clear all;
close all;
clc;
%%
%Load sensor data
load IMUData.mat IMUData;
accelerometerReadings = IMUData(:, 2:4);
gyroscopeReadings = IMUData(:, 5:7);
%% Sampling Rate
imuFs = 10; %Hz
decim = 1;
fuse = imufilter(‘SampleRate’,imuFs,’DecimationFactor’,decim, ‘ReferenceFrame’, ‘ENU’,’AccelerometerNoise’,1e-6, ‘GyroscopeDriftNoise’,1e-6);
%%
OrientationData = fuse(accelerometerReadings,gyroscopeReadings);
trajVel = trajData.Velocity;
How do I get this data?
trajPos = trajData.Position;
How do I get this data?
trajAcc = trajData.Acceleration;
accelerometerReadings = IMUData(:, 2:4);
trajAngVel = trajData.AngularVelocity;
gyroscopeReadings = IMUData(:, 5:7);
Also, I do not have magnetometer. I have to do it using acc-gyro only.
initstate = [1-4 % Orientation as a quaternion
5-7 % Position (NED) %but my frame is in NEU maybe
8-10 % Velocity (NED)
11-13 % Delta Angle Bias (XYZ)
14-16 % Delta Velocity Bias (XYZ)
17-19; % Geomagnetic Field Vector (NED)
20-22] % Magnetometer Bias (XYZ)
How can I proceed with this? inertial navigation, gps, localization, ekf MATLAB Answers — New Questions
