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Prior factor for IMU bias


The factorIMUBiasPrior object is a factor that has prior information for an IMU bias for a factorGraph object.




F = factorIMUBiasPrior(nodeID) creates a factorIMUBiasPrior object, F, with the node identification numbers property, NodeID, set to nodeID

F = factorIMUBiasPrior(nodeID,Name=Value) specifies properties using one or more name-value arguments. For example, factorIMUBiasPrior(1,Measurement=[1,2,3,1,2,3]) sets the Measurement property of the factorIMUBiasPrior object to [1,2,3,1,2,3].


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This property is read-only.

Node ID number, specified as a nonnegative integer. The factorIMUBiasPrior object factor connects to this node in the factor graph.

If there is no node in the factor graph with the specified ID, a node with that ID is automatically created and added to the factor graph when this factor is added to the factor graph.

You must specify this property at object creation.

Data Types: int

Measured prior IMU bias, specified as a six-element row vector in the form [GyroBias, AccelBias], where GyroBias and AccelBias are three-element row vectors of the gyro bias and acceleration bias in radians per second and meters per second respectively.

Data Types: double

Information matrix associated with the measurement, specified as a 6-by-6 matrix.

Data Types: double

Object Functions

nodeTypeGet node type of node in factor graph


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Create an IMU bias prior factor with a node ID of 1.

f = factorIMUBiasPrior(1);

Create a default factor graph and add the factor to the graph using the addFactor function.

g = factorGraph;

Extended Capabilities

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

Version History

Introduced in R2022a