insfilter

Create inertial navigation filter

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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.

example

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

Examples

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Open Live Script

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

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

Data Types: char | string

Extended Capabilities

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

Version History

Introduced in R2018b

See Also

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