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Sensor Models

Calibration and simulation for IMU, GPS, and range sensors

Perform sensor modeling and simulation for accelerometers, magnetometers, gyroscopes, altimeters, GPS, IMU, and range sensors. Analyze sensor readings, sensor noise, environmental conditions and other configuration parameters. Generate trajectories to emulate these sensors traveling through a world and calibrate the performance of your sensors.

To fuse multiple sensors or use other localization algorithms, see Localization and Pose Estimation.


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accelparamsAccelerometer sensor parameters
allanvarAllan variance
gyroparamsGyroscope sensor parameters
magparamsMagnetometer sensor parameters
magcalMagnetometer calibration coefficients
gnssconstellationSatellite locations at specified time
lookanglesSatellite look angles from receiver and satellite positions
pseudorangesPseudoranges between GNSS receiver and satellites
receiverpositionEstimate GNSS receiver position and velocity
skyplotPlot satellite azimuth and elevation data
extractNMEASentenceVerify and extract NMEA sentence data into string array
rinexreadRead data from RINEX file
rinexinfoGet information about RINEX file
semreadRead data from SEM almanac file


gnssSensorSimulate GNSS to generate position and velocity readings
altimeterSensorAltimeter simulation model
gpsSensorGPS receiver simulation model
imuSensorIMU simulation model
insSensorInertial navigation system and GNSS/GPS simulation model
rangeSensorSimulate range-bearing sensor readings
wheelEncoderUnicycleSimulate wheel encoder sensor readings for unicycle vehicle
wheelEncoderBicycleSimulate wheel encoder sensor readings for bicycle vehicle
wheelEncoderDifferentialDriveSimulate wheel encoder sensor readings for differential drive vehicle
wheelEncoderAckermannSimulate wheel encoder sensor readings for Ackermann vehicle
kinematicTrajectoryRate-driven trajectory generator
timescopeDisplay time-domain signals
waypointTrajectoryWaypoint trajectory generator
nmeaParserParse data from standard and manufacturer-specific NMEA sentences sent from marine electronic devices
gpsdevConnect to a GPS receiver connected to host computer


IMUIMU simulation model
INSSimulate INS sensor
GPSSimulate GPS sensor readings with noise